Path-Following Control Method for Surface Ships Based on a New Guidance Algorithm

Zhang, Zhanshuo; Zhao, Yuhan; Zhao, Guang-Yao; Wang, Hongbo; Zhao, Yi

doi:10.3390/jmse9020166

Cited by 7 publications

(3 citation statements)

References 33 publications

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“…Zhang et al [7] proposed a new path-following control law. The main innovation is a developed hyperbolic guidance law, which is used to control a marine ship on a straightline path.…”

Section: Papers Detailsmentioning

confidence: 99%

Automatic Control and Routing of Marine Vessels

Sotnikova

2022

JMSE

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“…Zhang et al [7] proposed a new path-following control law. The main innovation is a developed hyperbolic guidance law, which is used to control a marine ship on a straightline path.…”

Section: Papers Detailsmentioning

confidence: 99%

Automatic Control and Routing of Marine Vessels

Sotnikova

2022

JMSE

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“…Similarly, under the interference of sea waves, a ship produces a sway of heading, causing ship deviation the heading and possibly collision accidents [3]. Therefore, controlling a ship's heading and reducing its rolling motion is of great significance to ensure the stability of the ship's navigation and reduce maritime accidents [4].…”

Section: Introductionmentioning

confidence: 99%

Fin-Rudder Joint Control Based on Improved Linear-Quadratic-Regulator Algorithm

et al. 2022

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Navigation accidents and disasters frequently occur when ships sail at sea due to extreme weather, wind, and wave conditions. The disturbance of wind and waves affects the stability of the ship's course and makes the ship roll violently. Ships are usually equipped with an autopilot to control the course and a fin stabilizer to reduce rolling during navigation and improve stability and safety. Fin-rudder joint control system considers the coupling effect of the ship's horizontal plane motion, thereby improving the performance of the rudder and the fin stabilizer. This paper presents an improved linear-quadratic-regulator control algorithm. A rate control law with no static error is proposed based on the traditional linearquadratic regulator to eliminate the static error of the state vector and achieve a better control effect. Additionally, a closed-loop state observer is used to estimate the system's state vector, and a dynamic corrector is designed to reduce rolling and heading angle deviation caused by sea wave interference. The simulation results show that the designed fin-rudder joint controller with the improved linear-quadratic regulator algorithm can achieve more than 80% roll reduction effect at level 3 and 5 sea states, and has better course keeping ability compared with the rudder control.INDEX TERMS Fin-rudder joint control, LQR algorithm, roll reduction, rate control law with no static error, dynamic corrector.

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“…Sensing the ocean environment parallels the current emphasis in motion sensing, e.g., Davidson et al’s [ 33 ] parametric resonance technique for wave sensing and Sirigu et al’s [ 34 ] wave optimization via the stochastic genetic algorithm. Motion control similarly mimics the efforts of motion sensing and ocean environment sensing, e.g., Veremey’s [ 35 ] marine vessel tracking control, Volkova et al’s [ 36 ] trajectory prediction using neural networks, and the new guidance algorithm for surface ship path following proposed by Zhang et al [ 37 ]. Virtual sensory will be utilized in this manuscript where noisy state and rate sensors are combined to provide smooth, non-noisy, accurate estimates of state, rate, and acceleration, while no acceleration sensors were utilized.…”

Section: Introductionmentioning

confidence: 99%

Virtual Sensoring of Motion Using Pontryagin’s Treatment of Hamiltonian Systems

Sands

2021

Sensors

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To aid the development of future unmanned naval vessels, this manuscript investigates algorithm options for combining physical (noisy) sensors and computational models to provide additional information about system states, inputs, and parameters emphasizing deterministic options rather than stochastic ones. The computational model is formulated using Pontryagin’s treatment of Hamiltonian systems resulting in optimal and near-optimal results dependent upon the algorithm option chosen. Feedback is proposed to re-initialize the initial values of a reformulated two-point boundary value problem rather than using state feedback to form errors that are corrected by tuned estimators. Four algorithm options are proposed with two optional branches, and all of these are compared to three manifestations of classical estimation methods including linear-quadratic optimal. Over ten-thousand simulations were run to evaluate each proposed method’s vulnerability to variations in plant parameters amidst typically noisy state and rate sensors. The proposed methods achieved 69–72% improved state estimation, 29–33% improved rate improvement, while simultaneously achieving mathematically minimal costs of utilization in guidance, navigation, and control decision criteria. The next stage of research is indicated throughout the manuscript: investigation of the proposed methods’ efficacy amidst unknown wave disturbances.

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Path-Following Control Method for Surface Ships Based on a New Guidance Algorithm

Cited by 7 publications

References 33 publications

Automatic Control and Routing of Marine Vessels

Automatic Control and Routing of Marine Vessels

Fin-Rudder Joint Control Based on Improved Linear-Quadratic-Regulator Algorithm

Virtual Sensoring of Motion Using Pontryagin’s Treatment of Hamiltonian Systems

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