A Model Predictive based Controller (MPC) for the Path Following of a KVLCC2 Tanker in waves

This work investigates the performance of different controllers for the heading control and path following of a KVLCC2 tanker ship under wave disturbances. The guidance law is designed based on the Line of Sight (LoS) algorithm. The Maneuvering Modeling Group (MMG) Model of the KVLCC tanker is used to represent the system dynamics, whose linearized model with usual assumptions doesn’t satisfy the straight line stability. An input-output based linear model is obtained by relating the rudder deflection to yaw rate using system identification method, and subsequently used for tuning the controllers. The tuned gains of the controller is then applied to the nonlinear model. The performances of PID and LQR are studied and compared with a linear Model Predictive Controller (MPC). The MPC outperforms the PID and LQR in the presence of external disturbances as well as under calm water conditions.