A thrust allocation strategy for intelligent ships based on model prediction control

In order to solve the problem of the traditional sequential quadratic programming thrust allocation method, such as limited feasible region and low propulsion efficiency, a thrust allocation strategy based on model predictive control is proposed in this paper. The proposed thrust allocation strategy is realized by rolling optimization of model predictive control, and moreover, considering the possibility of thruster failure, a fault-tolerant thrust allocation strategy is proposed. The simulation results show that the proposed strategy can not only make the ship run in the expected condition but also reduce the average power consumption by 16.3% compared with the traditional sequential quadratic programming method and has good fault tolerance in the face of thruster failure.