Auto pilot-based PID has been widely used as a tracking settings on sea
transport. Limitations that occur in this sistem that is the parameter settings
manually as compensation of disturbance that occurred. This causes considerable
interference in the operation of the ship and take more time for delivery process.
Based on the tracking control sistem built on a cargo ship based Model Predictive
Control with the constraint as an alternative.
The results showed after tested on some form of trajectories. Model
predictive control with constraint gives a small error rate is less than 10% of the
total mileage of the shi
