Adaptive dynamic control allocation for dynamic positioning of marine vessel based on backstepping method and sequential quadratic programming

Witkowska, Anna; Śmierzchalski, Roman

doi:10.1016/j.oceaneng.2018.05.061

Cited by 79 publications

(34 citation statements)

References 23 publications

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“…The node that is inside the domain is excluded from further calculations of the optimal object trajectory. The entire DPANN calculation program for determining an object trajectory consists of two procedures: dynamic-programming object-route optimization and an ANN creating domains of encountered objects [30].…”

Section: Dynamic Programming Of the Safe And Optimal Object Trajectorymentioning

confidence: 99%

Multistage Dynamic Optimization with Different Forms of Neural-State Constraints to Avoid Many Object Collisions Based on Radar Remote Sensing

Lisowski

2020

Remote Sensing

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This article presents the possibility of helping navigators direct the movement of an object, while safely passing through other objects, using an artificial neural network and optimization methods. It has been shown that the best trajectory of an object in terms of optimality and security, from among many possible options, can be determined by the method of dynamic programming with the simultaneous use of an artificial neural network, by depicting the encountered objects as moving in forbidden domains. Analytical considerations are illustrated with examples of simulation studies of the developed calculation program on real navigational situations at sea. This research took into account both the number of objects encountered and the different shapes of domains assigned to the objects encountered. Finally, the optimal value of the safe object trajectory time was compared on the setpoint value of the safe passing distance of objects in given visibility conditions at sea, and the degree of discretization of calculations was determined by the density of the location of nodes along the route of objects.

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Section: Dynamic Programming Of the Safe And Optimal Object Trajectorymentioning

confidence: 99%

Multistage Dynamic Optimization with Different Forms of Neural-State Constraints to Avoid Many Object Collisions Based on Radar Remote Sensing

Lisowski

2020

Remote Sensing

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“…Verification concerns to following systems [12,13,15]: -DP control system, -steering and control system of thrusters with control of position and thrust of each one, -system of electric energy production, distribution system and control, steering and adjustment systems, -auxiliary systems like: measure system of imposed forces and momenta affecting on vessel hull, direction and strength of wind, hull dynamics, vessel position measuring systems, -alarm systems, DP danger and failure detection system.…”

Section: Tab 1 Position Power and Type Of Thruster On A Vessel Glmentioning

confidence: 99%

Thrust Control Systems of Propulsion and their Verification on Dynamically Positioned Vessels

Herdzik

2019

Journal of KONES

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Thrust vector control systems of propulsion systems of dynamic positioning vessels are commonly applied on vessels with DP2 and DP3 class of DP. It was submitted the ways of providing information to dynamic positioning operator DPO about detecting of suspicion of failure in specific thruster and shown the ways of response in such situations. In the case of failure and shut down one of working thrusters, it must be done the possibility assessment of continuation of DP system safe operation. If such situation is not possible, it should be considered the work of DP system on limitations. It was indicated on safety threats during operation of DP systems resulting from system failure or even the design faults. It commonly applies the failure mode and effect analysis (FMEA or FMECA) from the design phase through sea trials until to the verification process during operation. It allows the elimination of majority of faults in the DP systems. It was communicated the basic conditions of safe operation of vessels with DP systems and the examples of conditions which releasing the readiness signal of DP propulsion system elements. Observed development of control and automatics systems will result in increasing the safety of DP systems operation.

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“…In [6,7], the neural network is used to approximate the uncertainties; however, overdependence of the initial value makes these methods difficult to be used in practice. The backstepping technique has been used for controller design in [20,21]; however, the system states should be measurable. In [22][23][24], sliding mode control (SMC) is used for control design of vessels; however, the chattering phenomenon affects the system performance.…”

Section: Introductionmentioning

confidence: 99%

Robust Output Path-Following Control of Marine Surface Vessels with Finite-Time LOS Guidance

Wang

Cheng

2020

JMSE

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This paper proposes a finite-time output feedback methodology for the path-following task of marine surface vessels. First, a horizontal path-following model is established with unknown sideslip angle, unmeasured system state and system uncertainties. A hierarchical control structure is adopted to deal with the cascade property. For kinematics system design, a finite-time sideslip angle observer is first proposed, and thus the sideslip angle estimation is compensated in a nonlinear line-of-sight (LOS) guidance strategy to acquire finite-time convergence. For the heading control design, an extended state observer is introduced for the unmeasured state and equivalent disturbance estimation, based on which an output feedback backstepping approach is proposed for the desired tracking of command course angle. The global stability of the cascade system is analyzed. Simulation results validate the effectiveness of the proposed methodology.

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Adaptive dynamic control allocation for dynamic positioning of marine vessel based on backstepping method and sequential quadratic programming

Cited by 79 publications

References 23 publications

Multistage Dynamic Optimization with Different Forms of Neural-State Constraints to Avoid Many Object Collisions Based on Radar Remote Sensing

Multistage Dynamic Optimization with Different Forms of Neural-State Constraints to Avoid Many Object Collisions Based on Radar Remote Sensing

Thrust Control Systems of Propulsion and their Verification on Dynamically Positioned Vessels

Robust Output Path-Following Control of Marine Surface Vessels with Finite-Time LOS Guidance

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