Improvement of Ship Motion Control Using a Magnitude-Rate Saturation Model

Lyngstadaas, Ole Nikolai; Sæterdal, Tore Egil; Sørensen, Mikkel Eske Nørgaard; Breivik, Morten

doi:10.1109/ccta.2018.8511451

Cited by 3 publications

(2 citation statements)

References 11 publications

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“…4, and has e.g. been used in [22] and [11] to evaluate the performance of dynamic positioning control algorithms.…”

Section: Test Setup and Controller Tuningmentioning

confidence: 99%

“…Specifically, the controllers are compared using performance metrics which consider both control accuracy and energy use. Additional work considering the nonlinear feedback controllers from [10] is presented in [11], where a magnituderate saturation (MRS) model is added to the system and the effects are explored through model-scale experiments. Other recent work which consider the use of nonlinear feedback terms include [12] and [13], where sine and arctan functions, respectively, are employed for the purpose of 1-DOF ship heading control.…”

Section: Introductionmentioning

confidence: 99%

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Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control

2020

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In this paper, combinations of linear and nonlinear feedback terms are investigated for 3 degrees-of-freedom pose and velocity control of ships. Nonlinear control algorithms that are found in the literature often have linear feedback terms, which result in nice globally exponential stability properties when assuming no actuator constraints. However, considering that all actuators have saturation constraints, such stability properties are not feasible in practice. Applying nonlinear feedback terms can be a step to handle such constraints. As a result, this paper explores nonlinear feedback terms for both the kinematic and kinetic control loops. Specifically, three controllers based on a cascaded backstepping control design are implemented and compared through simulations and model-scale experiments in an ocean basin. Stability properties and tuning rules for all the controllers are also provided. Interestingly, the use of nonlinear feedback terms gives the ability to constrain the feedback control inputs globally while simultaneously being able to change the convergence rates locally. The price to be paid is the introduction of additional tuning parameters. The three controller types are compared using performance metrics which consider both control accuracy and energy use. INDEX TERMS Ship motion control, Dynamic positioning, Cascaded backstepping control design, Nonlinear feedback terms, Tuning rules, Performance metrics, Experimental results.

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“…4, and has e.g. been used in [22] and [11] to evaluate the performance of dynamic positioning control algorithms.…”

Section: Test Setup and Controller Tuningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control

2020

Self Cite

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Control System Design and Thrust Analysis of an Unmanned Surface Cleaning Vessel With a Novel Pump-Valve Propulsion System

Luo

Zheng

et al. 2020

IEEE Access

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This article presents a specialized control system for an unmanned surface cleaning vessel (USCV) employing a pump-valve propulsion system. The system has three operational modes, including manual remote-control mode, self-automated cruise mode, and self-locking remote-control mode. In the manual remote-control mode, users remotely control the vessel by means of a motion-control joystick. In the self-automated cruise mode, the control system is capable of detecting obstacles and automatically controlling the pump-valve propulsion system in response to feedback signals from sensors. The selflocking remote-control mode functions similarly to the first mode, except that the joystick controls the vessel motion in accordance with a single established joystick-actuation pattern. The control system is supported by a commercially available remote controller with wireless communication technology. The functionality of the combined control and pump-valve propulsion system is verified by computational fluid dynamics simulations and experimental tests conducted using a prototype USCV. The combined control and pumpvalve propulsion system is demonstrated to be a cost-effective, simple, and innovative platform that is suitable for use with USCVs. INDEX TERMS USCV, pump-valve propulsion, operational modes, CFD, motion states.

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Consecutive Compensator in Station-Keeping of a Surface Vessel

Borisov

Dahl

Pyrkin

et al. 2020

Mehatronika, avtomatizaciâ, upravlenie

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This paper addresses the problem of station-keeping of a surface vessel by means of the consecutive compensator approach. The horizontal motion of the vessel is described by a dynamic model. The model is set up in vessel parallel coordinates, with three degrees of freedom: longitudinal, transverse and rotational motion. It is assumed that the vessel is fully actuated, i.e. there is a sufficient number and type of actuators and a thrust allocation system to ensure full manoeuvrability. Thus, the control can be designed with the assumption of three independent inputs and three output signals. The longitudinal motion can be considered separately, but a cross-coupling exists between the transverse and rotational kinetics. There is uncertainty both in parameters and signals, due to the vessel mass, inertia, and damping, as well as the unmeasured derivatives. The proposed control ensures station-keeping when the vessel is subjected to external disturbances. The consecutive compensator, which is based on high-gain feedback, provides robustness. Stability analysis is presented considering the cross-terms as limited disturbances. This allows proof of exponential stability. Experimental results are included from the Marine Cybernetics Laboratory (MC lab) at the Centre for Autonomous Marine Operations and Systems (A MOS) at the Norwegian University of Science and Technology (Norges teknisk-naturvitenskapelige universitet, NTNU ). Two scenarios are investigated: the scaled vessel is subjected to external disturbance, and the vessel executes the " four corner test". The experiments illustrate the applicability of the method.

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Improvement of Ship Motion Control Using a Magnitude-Rate Saturation Model

Cited by 3 publications

References 11 publications

Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control

Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control

Control System Design and Thrust Analysis of an Unmanned Surface Cleaning Vessel With a Novel Pump-Valve Propulsion System

Consecutive Compensator in Station-Keeping of a Surface Vessel

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