Adaptive ship steering autopilot design with saturating and slew rate limiting actuator

Abstract

The proposed adaptive ship steering autopilot is based on the internal model control method, which is characterized by a model‐based design approach that provides clear connections between the structure of the controller and that of the ship model. Specifically, the controller parameters depends explicitly on the ship model parameters and on a design parameter that specifies the closed‐loop system response speed. Once the ship model parameters are estimated on‐line, the controller parameters are adjusted accordingly to adapt to different operating conditions. A key feature of the proposed approach being that the rudder limit and rudder rate limit are directly taken into the adaptation design consideration. Specifically, a reference conditioning technique that modifies the reference input in such a way that the rudder command is always equal to the actual rudder input into the plant. This allows the controller to exert its full power without attempting to take on values beyond the bounds imposed by the rudder limit and rudder rate limit. Consequently, under different operating conditions, rapid course‐changing manoeuvres are achievable without introducing possible instability problem caused by the controller integrator wind‐up. Copyright © 2000 John Wiley & Sons, Ltd.

A System Identification Approach to Motion Model Based on Full-Scale Ship Maneuvering Data

“…Some examples are the ordinary least-squares (LS) algorithm [ 63 ], improved LS algorithm (e.g., the constrained least-square (CLS) method [ 4 ], the partial least-squares (PLS) regression [ 13 ], etc. ), the recursive least-squares (RLS) algorithm [ 64 ], the improved RLS algorithm (e.g., the lattice recursive least-square (LRLS) algorithm [ 65 ], etc. ), maximum likelihood (ML) estimation method [ 66 ], model reference method (MRA) [ 67 , 68 ], recursive prediction error (RPE) method [ 69 , 70 ], frequency spectrum analysis (FSA) method [ 71 , 72 ], Kalman filter (KF), and the extend Kalman filter (EKF) [ 4 , 8 , 73 ], wavelet filtering technique [ 74 ], genetic algorithm (GA) [ 2 ], particle swarm optimization (PSO) and the improved PSO algorithm [ 1 , 75 , 76 ], artificial bee colony (ABC) algorithm [ 77 ], ant colony algorithm (ACA) [ 78 ], fruit fly optimization algorithm (FOA) [ 79 ], novel bat algorithm (NBA) [ 80 ], Artificial Fish School Algorithm (AFSA) [ 81 ], support vector machines (SVMs) [ 16 , 82 , 83 ], and support vector regression (SVR) [ 19 ].…”

A System Identification Approach to Motion Model Based on Full-Scale Ship Maneuvering Data

“…Some examples are the ordinary least-squares (LS) algorithm [ 63 ], improved LS algorithm (e.g., the constrained least-square (CLS) method [ 4 ], the partial least-squares (PLS) regression [ 13 ], etc. ), the recursive least-squares (RLS) algorithm [ 64 ], the improved RLS algorithm (e.g., the lattice recursive least-square (LRLS) algorithm [ 65 ], etc. ), maximum likelihood (ML) estimation method [ 66 ], model reference method (MRA) [ 67 , 68 ], recursive prediction error (RPE) method [ 69 , 70 ], frequency spectrum analysis (FSA) method [ 71 , 72 ], Kalman filter (KF), and the extend Kalman filter (EKF) [ 4 , 8 , 73 ], wavelet filtering technique [ 74 ], genetic algorithm (GA) [ 2 ], particle swarm optimization (PSO) and the improved PSO algorithm [ 1 , 75 , 76 ], artificial bee colony (ABC) algorithm [ 77 ], ant colony algorithm (ACA) [ 78 ], fruit fly optimization algorithm (FOA) [ 79 ], novel bat algorithm (NBA) [ 80 ], Artificial Fish School Algorithm (AFSA) [ 81 ], support vector machines (SVMs) [ 16 , 82 , 83 ], and support vector regression (SVR) [ 19 ].…”

A Cascaded Heading Control Design With Motion Constraint Handling for Marine Surface Vessels

“…Typically, the literature on autopilot control designs consists of unconstrained heading control designs with an emphasis on theoretical aspects such as formulation derivation and stability properties. Little attention is paid to actuator, vessel, and operator constraints, although some publications include a maximum rudder angle, e.g., [11], [12]. One of the reasons for this is that the control design methodologies do not incorporate such constraints inherently, and they must be dealt with by ad-hoc methods, which often results in a loss of validity for the theoretical stability aspects.…”

System control design of autopilot and speed pilot for a patrol vessel by using LMIs

“…In order to guarantee both path keeping and small induced drag, the controller has to avoid high rudder angle requirements as well as to take into account rudder rotation rate bounds (Tzeng & Lin 2000). Indeed, large oscillations of the rudder must be prevented for two main reasons, i.e., reduction of mechanical stress and generation of useless high-frequency motion of the rudder (Källström 2000).…”

A System Identification Approach to Motion Model Based on Full-Scale Ship Maneuvering Data

“…Some examples are the ordinary least-squares (LS) algorithm [ 63 ], improved LS algorithm (e.g., the constrained least-square (CLS) method [ 4 ], the partial least-squares (PLS) regression [ 13 ], etc. ), the recursive least-squares (RLS) algorithm [ 64 ], the improved RLS algorithm (e.g., the lattice recursive least-square (LRLS) algorithm [ 65 ], etc. ), maximum likelihood (ML) estimation method [ 66 ], model reference method (MRA) [ 67 , 68 ], recursive prediction error (RPE) method [ 69 , 70 ], frequency spectrum analysis (FSA) method [ 71 , 72 ], Kalman filter (KF), and the extend Kalman filter (EKF) [ 4 , 8 , 73 ], wavelet filtering technique [ 74 ], genetic algorithm (GA) [ 2 ], particle swarm optimization (PSO) and the improved PSO algorithm [ 1 , 75 , 76 ], artificial bee colony (ABC) algorithm [ 77 ], ant colony algorithm (ACA) [ 78 ], fruit fly optimization algorithm (FOA) [ 79 ], novel bat algorithm (NBA) [ 80 ], Artificial Fish School Algorithm (AFSA) [ 81 ], support vector machines (SVMs) [ 16 , 82 , 83 ], and support vector regression (SVR) [ 19 ].…”

A Cascaded Heading Control Design With Motion Constraint Handling for Marine Surface Vessels

“…Typically, the literature on autopilot control designs consists of unconstrained heading control designs with an emphasis on theoretical aspects such as formulation derivation and stability properties. Little attention is paid to actuator, vessel, and operator constraints, although some publications include a maximum rudder angle, e.g., [11], [12]. One of the reasons for this is that the control design methodologies do not incorporate such constraints inherently, and they must be dealt with by ad-hoc methods, which often results in a loss of validity for the theoretical stability aspects.…”

System control design of autopilot and speed pilot for a patrol vessel by using LMIs

“…In order to guarantee both path keeping and small induced drag, the controller has to avoid high rudder angle requirements as well as to take into account rudder rotation rate bounds (Tzeng & Lin 2000). Indeed, large oscillations of the rudder must be prevented for two main reasons, i.e., reduction of mechanical stress and generation of useless high-frequency motion of the rudder (Källström 2000).…”

A System Identification Approach to Motion Model Based on Full-Scale Ship Maneuvering Data

“…Some examples are the ordinary least-squares (LS) algorithm [ 63 ], improved LS algorithm (e.g., the constrained least-square (CLS) method [ 4 ], the partial least-squares (PLS) regression [ 13 ], etc. ), the recursive least-squares (RLS) algorithm [ 64 ], the improved RLS algorithm (e.g., the lattice recursive least-square (LRLS) algorithm [ 65 ], etc. ), maximum likelihood (ML) estimation method [ 66 ], model reference method (MRA) [ 67 , 68 ], recursive prediction error (RPE) method [ 69 , 70 ], frequency spectrum analysis (FSA) method [ 71 , 72 ], Kalman filter (KF), and the extend Kalman filter (EKF) [ 4 , 8 , 73 ], wavelet filtering technique [ 74 ], genetic algorithm (GA) [ 2 ], particle swarm optimization (PSO) and the improved PSO algorithm [ 1 , 75 , 76 ], artificial bee colony (ABC) algorithm [ 77 ], ant colony algorithm (ACA) [ 78 ], fruit fly optimization algorithm (FOA) [ 79 ], novel bat algorithm (NBA) [ 80 ], Artificial Fish School Algorithm (AFSA) [ 81 ], support vector machines (SVMs) [ 16 , 82 , 83 ], and support vector regression (SVR) [ 19 ].…”

A Cascaded Heading Control Design With Motion Constraint Handling for Marine Surface Vessels

“…Typically, the literature on autopilot control designs consists of unconstrained heading control designs with an emphasis on theoretical aspects such as formulation derivation and stability properties. Little attention is paid to actuator, vessel, and operator constraints, although some publications include a maximum rudder angle, e.g., [11], [12]. One of the reasons for this is that the control design methodologies do not incorporate such constraints inherently, and they must be dealt with by ad-hoc methods, which often results in a loss of validity for the theoretical stability aspects.…”

System control design of autopilot and speed pilot for a patrol vessel by using LMIs

“…In order to guarantee both path keeping and small induced drag, the controller has to avoid high rudder angle requirements as well as to take into account rudder rotation rate bounds (Tzeng & Lin 2000). Indeed, large oscillations of the rudder must be prevented for two main reasons, i.e., reduction of mechanical stress and generation of useless high-frequency motion of the rudder (Källström 2000).…”