Pareto Effect of LMI for Ship Propulsion

Abstract

The aim of this study was to analyze the dynamics of a multidimensional object based on the Pareto curve for the Linear Matrix Inequalities (LMI) controller. The study was carried out based on an available “Blue Lady” training vessel model controller with the use of a MATLAB and Simulink simulation package. Research was focused on optimising both the energy to be used when manoeuvring and the ship’s dynamics. Analysis was combined with the application of H2/H∞ norms finding the Pareto optimal solution for mixed norms used at the γ∞ parameter. Observations for a multidimensional ship model proved that it is possible to optimize the system, using principles of the Pareto curve, to reduce energy consumption in steering-propulsion systems while performing precise manoeuvres in ports correctly. Parameter values, received from observations of operation of individual steering-propulsion systems, proved to be reasonable.

Research on Synthesis of Multi-Layer Intelligent System for Optimal and Safe Control of Marine Autonomous Object

“…and can be directly used to create a model, whose transfer function with variable parameters better reflects the nonlinear properties of the ship. Then, the transfer function of the controller G oc (s) (37) using as a filter a first-order inertia (i = 1) will be equal to: G oc (s, n, δ) = (T 1 s + 1)(T 2 s + 1) k(T 3 s + 1)(T f s + 1) (40) where the static gain k and time constants T 1 , T 2 , and T 3 depend on the deflection of the rudder angle and the propeller shaft velocity. By using a nonlinear model in the structure of the IMC controller, better control effects will be obtained.…”

“…Based on the safe trajectory determined by the DP algorithm and the ACO algorithm, the longitudinal u, lateral v, and rotational r velocity plots of the MASS 0 were determined based on the synthesis of the trajectory controller and from the LMI state controller [39,40].…”

Maritime Autonomous Surface Ships in Use with LMI and Overriding Trajectory Controller

“…Input signals of the propulsion and control devices of the "BLUE LADY" ship M Rybczak adapted with permission from Ref [26]…”