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Model Predictive Control of the ship’s motion in presence of wind disturbances

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Treść / Zawartość
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Języki publikacji
EN
Abstrakty
EN
Model Predictive Control is a control strategy which can be used for ships guidance and trajectory tracking problems. Linear multidimensional MPC controller is used to control the transversal, longitudinal and rotational velocities of a ship. Control system based on the MPC algorithms is robust to wind disturbances and thus can be used in real sailing conditions. It is proved by the computer simulations results and described in detail in this publication. Whole control system was designed and simulation studies were carried out on the basis of the real floating training ship model. A Model Predictive Controller synthesis steps, including linearization of the nonlinear ship model in the vicinity of operating point, are shown.
Rocznik
Strony
107--115
Opis fizyczny
Bibliogr. 12 poz., rys.
Twórcy
autor
  • Gdynia Maritime University, Department of Vessel Automation 81-225 Gdynia, ul. Morska 81–87
Bibliografia
  • 1. DE-DECKER D.B.: Ship-ship interaction during lightering operations. MSc. thesis, NTNU, Trondheim Norway 2006.
  • 2. CAMACHO E.F., BORDONS C.: Model Predictive Control. Springer, Great Britain, 1999.
  • 3. WAHL A., GILLES E.D.: Track-keeping on waterways using model predictive control. In: K. Kijiama, T. Fossen (Eds.), Proceedings of the workshop on control applications in marine systems, Elsevier, Kiddington 1999, 149–154.
  • 4. Oh S.R., Sun J.: Path following of underactuated marine surface vessels using line-of-sight based model predictive control. Ocean Engineering 37, 2010, 289–295.
  • 5. Wu J., Peng H., Ohtsu K., Kitagawa G., Itoh T.: Ship’s tracking control based on nonlinear time series model. Applied Ocean Research 36, 2012, 1–11.
  • 6. KACZYŃSKI P., DOMAŃSKI P.D.: Evolutionary predictive controller for ship control. IEEE Computational Intelligence Methods and Applications, 2005.
  • 7. WITOLD G.: Private Communication.
  • 8. FOSSEN T.I.: Handbook of Marine Craft Hydrodynamics and Motion Control. 1st Edition, Wiley 2011.
  • 9. GIERUSZ W.: Synteza wielowymiarowych układów sterowania precyzyjnego ruchem statku z wykorzystaniem wybranych metod projektowania układów odpornych. Akademia Morska w Gdyni, 2004.
  • 10. CLARKE D.W., MOHTADI C., TUFFS P.S.: Generalized predictive control – part I the basic algorithm. Automatica 23(2), 1987, 137–148.
  • 11. CLARKE D.W., MOHTADI C., TUFFS P.S.: Generalized predictive control – part II extensions and interpretations. Automatica 23(2), 1987, 149–160.
  • 12. KERRIGAN E.C., MACIEJOWSKI J.M.: Fault-tolerant control of a ship propulsion system using model predictive control. In: European Control Conference, 1999.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-b1fd2c9e-f35b-4584-9079-de8f905baa30
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