Model Predictive Line of Sight Control of An Inland Vessel

Abstract

This research presents a Nonlinear Model Predictive Control (NMPC) scheme integrated with a Line of Sight (LOS) guidance approach to address the path following problem of commercial inland vessels. The proposed method employs a quadratic running cost function to compute control actions that balance tracking performance and motion smoothness while adhering to the physical constraints imposed by the vessel’s maneuvering model. Moreover, a Recursive Least Squares (RLS) algorithm is incorporated to adapt the model parameters in real time based on the vessel’s most recent operating conditions. The reference path is defined by waypoints forming straight line segments, which are subsequently used to determine the desired direction. The effectiveness of the proposed approach is validated through experiments conducted on a full-scale inland barge operating in a section of the Hollands Diep.