Ship Course Following and Course Keeping in Restricted Waters Based on Model Predictive Control

• Autorzy: Liu H. , Ma N. , Gu X. C.

Identyfikatory

DOI

10.12716/1001.12.02.11

• Języki publikacji: EN

Abstrakty

EN

Ship navigation safety in restricted water areas is of great concern to crew members, because ships sailing in close proximity to banks are significantly affected by the so-called ship-bank interaction. The purpose of this paper is to apply the optimal control theory to help helmsmen adjust ships’ course and maintain the target course in restricted waters. To achieve this objective, the motion of a very large crude carrier (VLCC) close to a bank is modeled with the linear equations of manoeuvring and the influence of bank effect on the ship hydrodynamic force is considered in the model. State-space framework is cast in a Multiple-Input Multiple-Output (MIMO) system, where the offset-free model predictive control (MPC) is designed for course following and the linear quadratic regulator (LQR) is used for course keeping. Simulation results show that the control methods effectively work in ship course following and course keeping with varying ship-bank distances and water depths. The advantage of adopting speed variation as the second control input is obvious.

Słowa kluczowe

EN

Ship Movement, Multiple-Input Multiple-Output (MIMO); Very Large Crude Carrier (VLCC); Model Predictive Control (MPC); Linear Quadratic Regulator (LQR); course; restricted waters; safety at sea

• Wydawca: Faculty of Navigation, Gdynia Maritime University
• Czasopismo: TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
• Rocznik: 2018
• Tom: Vol. 12, no. 2
• Strony: 305--312
• Opis fizyczny: Bibliogr. 19 poz., rys.

Twórcy

autor

Liu H.

• Shanghai Jiao Tong University, Shanghai, China

autor

Ma N.

• Shanghai Jiao Tong University, Shanghai, Chin

autor

Gu X. C.

• Shanghai Jiao Tong University, Shanghai, China

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).