Experimental data

The electro-hydraulic servo Stewart platform actively compensates wave-induced ship attitude variations to provide a stable base for offshore operations. However, conventional motion compensation systems typically treat trajectory planning and tracking as independent processes, leading to suboptimal performance in the presence of strong nonlinearities, coupling effects, and multiple physical constraints. This paper presents an integrated trajectory\u2013control co-optimization framework based on Adaptive Model Predictive Control (AMPC). First, an augmented state-space model is established that couples platform kinematics with electro-hydraulic servo dynamics and explicitly characterizes the relationship between actuator stroke and platform attitude. Second, an online state-estimation scheme using Newton\u2019s method performs rolling corrections to both attitude and model parameters, thereby improving adaptability to time-varying sea states. Within a unified MPC framework, trajectory planning and tracking are co-optimized, with attitude stabilization, actuator stroke limits, and control smoothness embedded in the cost function and explicit constraints, thereby resolving the inconsistency and information isolation between the planning and control layers in traditional hierarchical MPC. Comparative experiments on a physical platform under sea states up to level 4 demonstrate that the proposed method significantly outperforms conventional MPC in compensation accuracy, motion smoothness, and computational efficiency.