Ship heading control has been a representative control problem for marine application and has attracted considerable attention from the control community. The large yaw rate can produce other motions (such as sway and roll) that can cause seasickness and cargo damage, enforcing yaw rate constraints while maneuvering in seaways becomes an important design consideration in surface vessel. In this paper, the Sigma class corvette ship is adopted as an example. To address the constraint violation for ship heading control in wave fields, the model predictive control (MPC) controller has been proposed to satisfy the state constraints in the presence of environmental disturbances. The simulation results show that the performance of proposed controller in terms of satisfying yaw rate and actuator saturation constraint.

model predictive control (MPC), ship heading control.