Sökning: "Alexander Bärlund"

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  1. 1. Nonlinear MPC for Motion Control and Thruster Allocation of Ships

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Alexander Bärlund; [2019]
    Nyckelord :MPC; nonlinear MPC; model predictive control; thruster allocation; thrust allocation; motion control; motion control system; ship; dynamic positioning; azimuth; azipod;

    Sammanfattning : Critical automated maneuvers for ships typically require a redundant set of thrusters. The motion control system hierarchy is commonly separated into several layers using a high-level motion controller and a thruster allocation (TA) algorithm. LÄS MER