Path following control system for a tanker ship model

Moreira, L.; Fossen, Thor I.; Soares, C. Guedes

doi:10.1016/j.oceaneng.2007.02.005

Cited by 187 publications

(97 citation statements)

References 5 publications

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“…The simulation scenario is based on the coastal patrol full-scale vessel data used in section Iteration 6, θ (6) Iteration 7, θ (7) Iteration 8, θ (8) Nonlinear simulation, θ • manoeuvre.…”

Section: Simulations and Resultsmentioning

confidence: 99%

“…Several articles deal with the design and implementation of PID based autopilots, in which linearizations for the vessel s manoeuvring model are performed, see [1]- [6] as the most representative. In the case of low speed applications, it is acceptable to neglect the nonlinear dynamics on the ships manoeuvring model due to linear terms predomination.…”

Section: Introductionmentioning

confidence: 99%

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Iterated nonlinear control of ship's manoeuvring models

Revestido

Tomás-Rodrı́guez

González

2013

52nd IEEE Conference on Decision and Control

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Section: Simulations and Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Iterated nonlinear control of ship's manoeuvring models

Revestido

Tomás-Rodrı́guez

González

2013

52nd IEEE Conference on Decision and Control

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“…Conventional control strategies like PID control can no longer satisfy the requirement of navigation, guidance and control of ships. During recent decades, many advanced control schemes have been developed and successfully applied to ship motion control, including sliding mode variable structure control [2,3]; parameter adaptive control [4,5]; H-infinity robust control [6,7]; neural-network control [8,9]; fuzzy control [10,11]; neuro-fuzzy control [12,13]; line-of-sight based model control [14,15], etc.…”

Section: Introductionmentioning

confidence: 99%

Control for Ship Course-Keeping Using Optimized Support Vector Machines

Luo

Cong

2016

Algorithms

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Support vector machines (SVM) are proposed in order to obtain a robust controller for ship course-keeping. A cascaded system is constructed by combining the dynamics of the rudder actuator with the dynamics of ship motion. Modeling errors and disturbances are taken into account in the plant. A controller with a simple structure is produced by applying an SVM and L2-gain design. The SVM is used to identify the complicated nonlinear functions and the modeling errors in the plant. The Lagrangian factors in the SVM are obtained using on-line tuning algorithms. L2-gain design is applied to suppress the disturbances. To obtain the optimal parameters in the SVM, then particle swarm optimization (PSO) method is incorporated. The stability and robustness of the close-loop system are confirmed by Lyapunov stability analysis. Numerical simulation is performed to demonstrate the validity of the proposed hybrid controller and its superior performance over a conventional PD controller.

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“…Therefore, a big challenge research topic is generated for them to deal with unbounded modelling inaccuracies [1]. For this purpose, a sliding mode control (SMC) technique [16] was developed to provide a robust control for a nonlinear system without knowing its details of nonlinearities [4].This is because the SMC only uses the upper bounds of the modelling inaccuracies to design robust controllers [17]. Both structured and unstructured uncertainties could be compensated efficiently by these controllers [18].…”

Section: Introductionmentioning

confidence: 99%

Robust global sliding model control for water-hull-propulsion unit interaction systems - Part 1: System boundary identification

Yan

Qin

et al. 2015

Teh. vjesn.

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Original scientific paper Unexpected severe hull deformation caused by the wave loads would significantly influence the dynamical behaviours of the propulsion system in large scale ships, resulting in degradation of the ship control performance. A new global sliding model control (GSMC) for marine water-hull-propulsion unit systems is proposed to obtain more accurate control performance in this paper. The GSMC was firstly employed to establish the marine propulsion control model with nonlinear uncertainties. In the GSMC model, the saturation function method is applied to eliminate chattering on the sliding surface. Then the Lyapunov stability criterion is adopted to confirm the stability of the control system. Following, for the first time, the boundary problem of the nonlinear model uncertainties were investigated quantitatively. The bounded nonlinear model uncertainties required in the proposed GSMC model, involving engine torque loss / variations, power transfer for various load conditions and shaft rotational speeds, were derived based on the experiments carried out on a marine shaft-line test-bed of the integrated propulsion system as well as a sea trial implemented for a running bulk carrier. An upper boundary of 1,85 % for the model uncertainty has been obtained, which would be introduced into the GSMC for the integrated marine propulsion system to derive the total control law realising the robust control of the system.Keywords: global sliding model control; nonlinear control model; marine propulsion system; uncertainties in marine propulsion system; water-hullprolusion unit interactions; Upravljanje izdržljivim globalnim kliznim modelom za interakcijske sustave voda-trup-pogonska jedinica -Dio 1: Prepoznavanje granice sustavaIzvorni znanstveni članak Nepredviđene jake deformacije trupa uzrokovane težinom valova mogle bi značajno utjecati na dinamičko ponašanje pogonskog sustava velikih brodova, rezultirajući slabljenjem upravljačke funkcije broda. U ovom se radu predlaže upravljanje novim globalnim kliznim modelom (GSMC) za brodske sustave voda-trup-pogonska jedinica u svrhu poboljšanja upravljačkih performansi. Taj GSMC najprije je primijenjen u razvijanju modela za upravljanje brodskim pogonom s nelinearnim nesigurnostima. U GSMC modelu primijenjena je metoda funkcije zasićenja za isključenje podrhtavanja na kliznoj površini. Zatim je pomoću Lyapunova kriterija stabilnosti potvrđena stabilnost upravljačkog sustava. Po prvi puta, granični problem nesigurnosti nelinearnog modela kvantitativno je istražen. Nesigurnosti graničnog nelinearnog modela potrebne u predloženom GSMC modelu, uključujući gubitak /varijacije zakretnog momenta motora, prijenos energije za različite uvjete opterećenja i brzine rotacije osovine, dobivene su na temelju eksperimenata provedenih na liniji brodski osovinski vod -probni stol integriranog pogonskog sustava kao i pokusne plovidbe na moru broda za prijevoz rasutog tereta. Postignuta je gornja granica od 1,85 % za nesigurnost modela, i ona bi se trebala unijeti u GSMC za integr...

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Path following control system for a tanker ship model

Cited by 187 publications

References 5 publications

Iterated nonlinear control of ship's manoeuvring models

Iterated nonlinear control of ship's manoeuvring models

Control for Ship Course-Keeping Using Optimized Support Vector Machines

Robust global sliding model control for water-hull-propulsion unit interaction systems - Part 1: System boundary identification

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