| dc.description.abstract | This project explores the Balchen model and the OSP package with a goal to find a vessel model through system identification and try to construct a DP system.
The objective of this project is to perform literature research about DP systems for marine vessels, do system identification of an existing model and implement a DP system for the selected marine vessel.
The methods chapter focuses on open loop testing to try to find the boundaries of the system, system identification in Simulink, and the development of an MPC controller in Simulink. Simulink was used to perform “live” simulations, while MATLAB was used to initialize Kalman filter, and set up NE diagrams showing the marine vessels position.
For the MPC controller an LQ optimal control problem was selected as a start, and this had to be fit in the standard QP formulation that was supported by qpOASES solver.
Finaly, the conclusion discusses how successful this project was in regards of the objective. | |
