High-speed multihull anti-pitching control based on heave velocity and pitch angular velocity estimation

Li, W.; Zhang, J.; Xu, W.

doi:10.1016/j.isatra.2023.12.039

ISA Transactions

2024

DOI: 10.1016/j.isatra.2023.12.039

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High-speed multihull anti-pitching control based on heave velocity and pitch angular velocity estimation

W. Li,

J. Zhang,

W. Xu

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2024

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Cited by 2 publications

References 18 publications

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Quasi-Infinite Horizon Model Predictive Control with Fixed-Time Disturbance Observer for Underactuated Surface Vessel Path Following

Li,

Zhou,

Zhang

2024

JMSE

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As a flexible, autonomous and intelligent motion platform, underactuated surface vessels (USVs) are expected to be an ideal means of transport in dangerous and complex marine environments. The success and efficiency of maritime missions performed by USVs depend on their ability to accurately follow paths and remain robust against wind and wave disturbances. To this end, this paper focuses on accurate and robust path following control for USVs under wave disturbances. Model predictive control with a quasi-infinite horizon is proposed which converts the objective function from an infinite horizon to an approximate finite horizon, providing the convergence performance in long prediction horizons and reducing the computation load explicitly. To enhance robustness against disturbances, a fixed-time disturbance observer is applied to estimate the time-varying and bounded disturbances. The estimated value is provided to the controller input to form a robust control framework with disturbance feedforward compensation and predictive control feedback correction, which is substantially different from existing works. The convergence and optimality of the proposed algorithm are presented mathematically. Finally, we demonstrate the advantages of the algorithm in both theory and simulation.

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Quasi-Infinite Horizon Model Predictive Control with Fixed-Time Disturbance Observer for Underactuated Surface Vessel Path Following

Li,

Zhou,

Zhang

2024

JMSE

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Pitching Stabilization Control for Super Large Ships Based on Double Nonlinear Positive Feedback under Rough Sea Conditions

Song,

Qiao,

Sui

2024

JMSE

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Due to the rapid development of a global navigation satellite system and the rapid growth of ships, the traditional control algorithms are not suitable; hence, the longitudinal rocking phenomenon generated by external disturbances is more serious when a ship is sailing. This paper takes a mathematical model of the super large oil tanker “KVLCC2”’s longitudinal motion as the controlled plant, establishing a multi-input multi-output instability control system, using the root trajectory shaping method and a weighting matrix to ensure the stability of its transfer function’s mathematical model. An improved closed-loop gain-shaping algorithm is utilized to design a simple robust controller. And a dual nonlinear positive feedback control algorithm is added to the control system to further improve the controller’s pitching stabilization performance and reduce the controller’s output energy. In order to verify that the controller has a consistently strong robustness, simulation experiments are carried out by adding a level 6, 7 and 8 wind wave model and a perturbation link to the control system, respectively. The results show that when the value of the hysteresis constant is taken as 0.25, the output values of the heave displacement and the pitch angle are greatly reduced, and the longitudinal rocking phenomenon is significantly improved. The dual nonlinear positive feedback control algorithm enhances the ship’s pitching stabilization control capability and further reduces the controller’s output energy, which provides technical support for the smooth and efficient sailing of super large ships under changing sea conditions. Combined with a global navigation satellite system, this algorithm provides a new method for pitching stabilization control of super large ships.

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High-speed multihull anti-pitching control based on heave velocity and pitch angular velocity estimation

Cited by 2 publications

References 18 publications

Quasi-Infinite Horizon Model Predictive Control with Fixed-Time Disturbance Observer for Underactuated Surface Vessel Path Following

Quasi-Infinite Horizon Model Predictive Control with Fixed-Time Disturbance Observer for Underactuated Surface Vessel Path Following

Pitching Stabilization Control for Super Large Ships Based on Double Nonlinear Positive Feedback under Rough Sea Conditions

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