Modeling, identification, and adaptive maneuvering of CyberShip II: A complete design with experiments

Skjetne, Roger; Smogeli, Øyvind N.; Fossen, Thor I.

doi:10.1016/s1474-6670(17)31732-9

Cited by 118 publications

(54 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…T (Fossen, 2002), and of the nonlinear part D NL (ν), which makes it possible to determine hydrodynamic damping forces at high velocities (Skjetne, et al, 2004):…”

Section: Mathematical Model Of Cybership IImentioning

confidence: 99%

“…Models of this type can be found in (Galbas, 1988;Gierusz, 2001;Fossen, 1994;Kallstrom and Ottosson, 1982;Skjetne et al, 2004).…”

Section: Introductionmentioning

confidence: 99%

“…In many cases manual tuning of control parameters is necessary. Therefore a lot of research activities have been oriented to improving Inertial earth-fixed frame and the body-fixed frame for a ship with the earth-fixed position (x, y), the heading ψ, the ship course ψc , the sideslip β, the corresponding body-fixed velocities (u, v), and the rotation rate r (Skjetne et al, 2004).…”

Section: Introductionmentioning

confidence: 99%

“…The analysis was made using the physical model of a ship called CyberShip II, which provides services to drilling platforms (Lindegaard and Fossen, 2002;Sveen, 2003;Skjetne et al, 2004). In order to compare the obtained results, reference tests were performed using the PD controller.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Nonlinear controller design of a ship autopilot

Tomera¹

2010

International Journal of Applied Mathematics and Computer Science

View full text Add to dashboard Cite

The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.

show abstract

“…T (Fossen, 2002), and of the nonlinear part D NL (ν), which makes it possible to determine hydrodynamic damping forces at high velocities (Skjetne, et al, 2004):…”

Section: Mathematical Model Of Cybership IImentioning

confidence: 99%

“…Models of this type can be found in (Galbas, 1988;Gierusz, 2001;Fossen, 1994;Kallstrom and Ottosson, 1982;Skjetne et al, 2004).…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Nonlinear controller design of a ship autopilot

Tomera¹

2010

International Journal of Applied Mathematics and Computer Science

View full text Add to dashboard Cite

show abstract

“…The synchronization observer-controller scheme utilizes a theoretical model of the supply ship to construct estimates of unmeasured states for the two ships, and thus the performance of the scheme is influenced by the accuracy of the theoretical model. The model ship used in the simulations and experiments has been thoroughly modelled and tested to identify its model parameters (Skjetne, Smogeli, & Fossen, 2004), and contributing nonlinear damping terms have been identified for the model. Nevertheless, the scheme performs well under the linear damping assumption made in the control design, notwithstanding the inherent nonlinear damping of the model ship in the experiments.…”

Section: Article In Pressmentioning

confidence: 99%

Output synchronization control of ship replenishment operations: Theory and experiments

Kyrkjebø

Pettersen

Wondergem

et al. 2007

Control Engineering Practice

View full text Add to dashboard Cite

A leader-follower synchronization output feedback control scheme is presented for the ship replenishment problem where only positions are measured. No mathematical model of the leader ship is required, and the control scheme relies on nonlinear observers to estimate velocity and acceleration of all ships to realize the feedback control law. The scheme yields semi-global uniform ultimate boundedness of the closed-loop errors. The bound is a function of the main ship acceleration, and under the assumption of zero main ship acceleration the closed-loop errors are semi-globally exponentially converging. The results are verified through experiments on a model-scale ship. r

show abstract

Active DIsturbance Rejection Control of Surface Vessels Using Composite Error Updated Extended State Observer

Sun

Zhang

Pan

2017

Asian Journal of Control

View full text Add to dashboard Cite

In this paper, a composite‐errors‐based active disturbance rejection control law is proposed for surface vessels with exogeneous disturbances. The low‐frequency disturbances from wind, wave and ocean currents are estimated by a novel composite‐errors‐based extended state observer (ESO). Since the composite errors are composed of trajectory tracking errors and estimation errors, the disturbance rejection control is feedforward‐feedback composite control. The advantages of feedforward control and feedback control are exploited to reject system disturbances. Compared with conventional ESO‐based active disturbance rejection control, smaller estimation errors and smaller tracking errors can be achieved by the proposed disturbance compensation control. The effectiveness and superiority of the designed control law are illustrated by theoretical analysis and simulation results.

show abstract

Modeling, identification, and adaptive maneuvering of CyberShip II: A complete design with experiments

Cited by 118 publications

References 6 publications

Nonlinear controller design of a ship autopilot

Nonlinear controller design of a ship autopilot

Output synchronization control of ship replenishment operations: Theory and experiments

Active DIsturbance Rejection Control of Surface Vessels Using Composite Error Updated Extended State Observer

Contact Info

Product

Resources

About