A fuzzy rule-based PID controller for dynamic positioning of vessels in variable environmental disturbances

Xu, Shengwen; Wang, Xuefeng; Yang, Jie; Wang, Lei

doi:10.1007/s00773-019-00689-2

Cited by 26 publications

(17 citation statements)

References 23 publications

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“…This enables online estimation with time-saving in case of dynamics variations of the DP systems due to ex. disturbances which clarifies the wide use of such methods in various control-related problems of the DP systems as in [2,5,22,23] and the references therein. Model-predictive control (MPC) is another popular control method that has recently been reported in the literature by a number of authors.…”

Section: Introductionmentioning

confidence: 70%

“…Further review and comparison of different control techniques have been presented in the recent review in [1]. The single-input-single-output PID control is a first reported method used for DP system regulation [1,5]. A low-pass filter was combined to the PID controller to control the motion of the DP system in the 3-degrees-of-freedom (DOF) horizontal plane.…”

Section: Introductionmentioning

confidence: 99%

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Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships

2020

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Dynamic positioning (DP) control system is an essential module used in offshore ships for accurate maneuvering and maintaining of ship’s position and heading (fixed location or pre-determined track) by means of thruster forces being generated by controllers. In this paper, an interconnection and damping assignment-passivity based control (IDA-PBC) controller is developed for DP of surface ships. The design of the IDA-PBC controller involves a dynamic extension utilizing the coordinate transformation which adds damping to some coordinates to ensure asymptotic stability and adds integral action to enhance the robustness of the system against disturbances. The particle swarm optimization (PSO) technique is one of the the population-based optimization methods that has gained the attention of the control research communities and used to solve various engineering problems. The PSO algorithm is proposed for the optimization of the IDA-PBC controller. Numerical simulations results with comparisons illustrate the effectiveness of the new PSO-tuned dynamic IDA-PBC controller.

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Section: Introductionmentioning

confidence: 70%

Section: Introductionmentioning

confidence: 99%

Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships

2020

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“…To compensate for the disturbances caused by environmental factors, control algorithms, such as adaptive PID [62], adaptive MPC [63][64][65][66], and adaptive dynamic surface control [67,68], have been gradually applied to ship control. With the development of modern control theory, intelligent algorithms, such as sliding mode control (SMC) [69], backstepping [70][71][72][73][74][75], fuzzy control [76], and neural network [77][78][79][80], are also widely adopted in the field of ship control.…”

Section: Motion Control Algorithmmentioning

confidence: 99%

Review of Ship Behavior Characteristics in Mixed Waterborne Traffic

Tang

Mou

Chen

et al. 2022

JMSE

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Through the continuous development of intellectualization, considering the lifecycle of ships, the future of a waterborne traffic system is bound to be a mixed scenario where intelligent ships of different autonomy levels co-exist, i.e., mixed waterborne traffic. According to the three modules of ships’ perception, decision-making, and execution, the roles of humans and machines under different autonomy levels are analyzed. This paper analyzes and summarizes the intelligent algorithms related to the three modules proposed in the last five years. Starting from the characteristics of the algorithms, the behavior characteristics of ships with different autonomous levels are analyzed. The results show that in terms of information perception, relying on the information perception techniques and risk analysis methods, the ship situation can be judged, and the collision risk is evaluated. The risk can be expressed in two forms, being graphical and numerical. The graphical images intuitively present the risk level, while the numerical results are easier to apply into the control link of ships. In the future, it could be considered to establish a risk perception system with digital and visual integration, which will be more efficient and accurate in risk identification. With respect to intelligent decision-making, currently, unmanned ships mostly use intelligent algorithms to make decisions and tend to achieve both safe and efficient collision avoidance goals in a high-complexity manner. Finally, regarding execution, the advanced power control devices could improve the ship’s maneuverability, and the motion control algorithms help to achieve the real-time control of the ship’s motion state, so as to further improve the speed and accuracy of ship motion control. With the upgrading of the autonomy level, the ship’s behavior develops in a safer, more efficient, and more environment-friendly manner.

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“…A lot of research has been performed on the architecture of the DP control system relative to mooring control [5]. The initial DP control system added a low-pass filter to the traditional PID control model; nevertheless, the positioning accuracy of the controller is affected.…”

Section: Introductionmentioning

confidence: 99%

Adaptive RBF -SMC control for multi-point mooring system

Shi

2022

MATEC Web Conf.

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A stable adaptive control scheme for multi-point mooring system (MPMS) with uncertain dynamics is proposed in this paper. The control scheme is designed by a hybrid controller based on RBF (Radial Basis Function) NN (Neural Network) and SMC (Sliding Mode Control), which learns the MPMS dynamic changes, and the compensation of external disturbances is realized through adaptive RBFNN control. Meanwhile the RBF-SMC control parameters are adapted by the Lyapunov method to minimize squares dynamic positioning (DP) error. The convergence of the hybrid controller is proved theoretically, and the proposed mooring control scheme is applied to the “Kantan3” mooring simulation system. Finally, the simulation results are compared with the traditional PID controller and standard RBF controller to demonstrate the effective mooring positioning performance of the control scheme for the MPMS.

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A fuzzy rule-based PID controller for dynamic positioning of vessels in variable environmental disturbances

Cited by 26 publications

References 23 publications

Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships

Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships

Review of Ship Behavior Characteristics in Mixed Waterborne Traffic

Adaptive RBF -SMC control for multi-point mooring system

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