Nonlinear Adaptive Model Predictive Control for Ship Path-Following Using Parametric Neighbouring Extremal Approach

This paper considers the ship path following problem with state and input constraints. The control problem associated with path following is formulated as a Model Predictive Control (MPC) with adjustable parameters. The Parametric Neighbouring Extremal (PNE) approach is applied to obtain a closed form solution. The algorithm is presented and computational details associated with numerical implementation are addressed. The effectiveness of the proposed control scheme is demonstrated through simulations using a detailed nonlinear ship model for several different scenarios.