A study of ship's mooring method with Controllable Pitch Propeller (CPP) by applying generalized minimum variance control

Doi, Masayoshi; Nagamoto, Kazuhisa; Takehira, Tetsuya

doi:10.23919/ecc.2013.6669167

Cited by 1 publication

(1 citation statement)

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“…Goheen [24] presented a multivariable self-tuning autopilot for autonomous and remotely operated underwater vehicles with satisfactory results but considers a linearization of the nonlinear maneuvering model for the application of the self-tuning control method. Similarly, in Idenawa [25,26], a linear model of a ship for the application a GMV control method is presented. In recent years, a nonlinear generalized minimum variance (NGMV) methodology has been used in order to achieve a reduction in roll dynamics and the course-keeping motion in waves of ships [27,28], where a decoupled linear model for the application of the method was considered.…”

Section: Introductionmentioning

confidence: 99%

Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model

2021

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This paper addresses the problem of control design for a nonlinear maneuvering model of an autonomous underwater vehicle. The control algorithm is based on an iteration technique that approximates the original nonlinear model by a sequence of linear time-varying equations equivalent to the original nonlinear problem and a self-tuning control method so that the controller is designed at each time point on the interval for trajectory tracking and heading angle control. This work makes use of self-tuning minimum variance principles. The benefit of this approach is that the nonlinearities and couplings of the system are preserved, unlike in the cases of control design based on linearized systems, reducing in this manner the uncertainty in the model and increasing the robustness of the controller. The simulations here presented use a torpedo-shaped underwater vehicle model and show the good performance of the controller and accurate tracking for certain maneuvering cases.

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