期刊名称：International Journal of Computer Science and Network Security
印刷版ISSN：1738-7906
出版年度：2009
卷号：9
期号：5
页码：84-90
出版社：International Journal of Computer Science and Network Security
摘要：A Generalized Predictive Controller (GPC) for ship track keeping is introduced in this paper. A predictive model for desired heading angles is deduced, the controller is designed based not only on the prediction of the outputs (heading angles), but also on the prediction of the desired heading angles. A recursive algorithm for matrix inversion in the controller is also presented. Applied to cargo ship��s track keeping, simulation results show efficiency of this new control scheme. The computational time required by the recursive algorithm for matrix inversion is only 1/3 as general matrix inversion algorithms.
关键词：Generalized Predictive Control (GPC); ship control; recursive algorithms; matrix inversion
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