Robust Control for Marine Vessels

Abstract: This master thesis studies the implementation of a Robust MPC controller in marine vessels on different tasks. A tube based MPC is designed based on system linearization around the target point guaranteeing local input to state stability of the respective linearized version of the original nonlinear system. The method is then applied to three different tasks: Dynamic positioning on which recursive feasibility of the nominal MPC is also guaranteed, Speed-Heading control and trajectory tracking with the Line of sight algorithm. Numerical simulation is then provided to show technique’s effectiveness.

This thesis has been carried out at ABB Corporate Research in Västerås, Sweden.

Examiner: Mikael Johansson, KTH