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Making the ship move according to the specific trajectory or arrive at the specified location and reduce or eliminate the overshoot when reaching the set position are the key problem in the research of the dynamic positioning controller.Combined the basic theory of model predictive control and the least squares identification of self-adaptive approach, we design a self-adaptive predictive controller for dynamic positioning system in view of the above problems.The controller effectively solves the problem of model mismatch and system overshoot by matlab simulation. In order to further verify the control effect of this controller, we conducting a series of physical test on the controller under the dynamic positioning fixed point pattern in the basin.In the case of direct use of the simulation parameters, the control effect of the ship model test is not ideal, and the dynamic positioning effect is greatly improved after the parameters are modified. The model test results show that the control of the bow angle should occupy the highest weight in order to ensure the control effect, besides, the coupling phenomenon of ship movement can not be ignored in the actual control.