International Journal of Naval Architecture and Ocean Engineering

The Society of Naval Architects of Korea (대한조선학회)
권호 표지
DOI QR코드

DOI QR Code

Path following of a surface ship sailing in restricted waters under wind effect using robust H∞ guaranteed cost control

  • Wang, Jian-qin (School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University) ;
  • Zou, Zao-jian (School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University) ;
  • Wang, Tao (School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University)
  • Received : 2018.04.03
  • Accepted : 2018.10.22
  • Published : 2019.01.31
Download PDF
⟨ Previous Next ⟩

Abstract

The path following problem of a ship sailing in restricted waters under wind effect is investigated based on Robust $H_{\infty}$ Guaranteed Cost Control (RHGCC). To design the controller, the ship maneuvering motion is modeled as a linear uncertain system with norm-bounded time-varying parametric uncertainty. To counteract the bank and wind effects, the integral of path error is augmented to the original system. Based on the extended linear uncertain system, sufficient conditions for existence of the RHGCC are given. To obtain an optimal robust $H_{\infty}$ guaranteed cost control law, a convex optimization problem with Linear Matrix Inequality (LMI) constraints is formulated, which minimizes the guaranteed cost of the close-loop system and mitigates the effect of external disturbance on the performance output. Numerical simulations have confirmed the effectiveness and robustness of the proposed control strategy for the path following goal of a ship sailing in restricted waters under wind effect.

Keywords

References

  1. Briat, C., 2014. Linear Parameter-varying and Time-delay Systems. Analysis, Observation, Filtering & Control. Springer.
  2. Dullerud, G.E., Paganini, F., 2013. A Course in Robust Control Theory: a Convex Approach. Springer Science & Business Media.
  3. Fossen, T.I., 2011. Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons.
  4. Gallier, J., 2010. The Schur Complement and Symmetric Positive Semidefinite (And Definite) Matrices. Penn Engineering.
  5. Jia, X.L., Yang, Y.S., 1999. Ship Motion Mathematical Model - Mechanism Modeling and Identification Modeling (In Chinese). Dalian Maritime University Press.
  6. Kosmidou, O.I., Boutalis, Y.S., 2006. A linear matrix inequality approach for guaranteed cost control of systems with state and input delays. IEEE Trans. Syst. Man Cybern. Syst. Hum. 36 (5), 936-942. https://doi.org/10.1109/TSMCA.2005.855788
  7. Lataire, E., Vantorre, M., Delefortrie, G., 2012. A prediction method for squat in restricted and unrestricted rectangular fairways. Ocean Eng. 55, 71-80. https://doi.org/10.1016/j.oceaneng.2012.07.009
  8. Lee, G., Surendran, S., Kim, S.H., 2009. Algorithms to control the moving ship during harbour entry. Appl. Math. Model. 33 (5), 2474-2490. https://doi.org/10.1016/j.apm.2008.07.012
  9. Liu, D., Wang, D., Wang, F.Y., Yi, H., Yang, X., 2014. Neural-network-based online HJB solution for optimal robust guaranteed cost control of continuous-time uncertain nonlinear systems. IEEE Trans. Cybern. 44 (12), 2834-2847. https://doi.org/10.1109/TCYB.2014.2357896
  10. Li, Z., Sun, J., Oh, S., 2009. Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels. Automatica 45 (7), 1649-1658. https://doi.org/10.1016/j.automatica.2009.03.010
  11. Ma, S.J., Zhou, M.G., Zou, Z.J., 2013. Hydrodynamic interaction among hull, rudder and bank for a ship sailing along a bank in restricted waters. J. Hydrodyn. 25 (6), 809-817. https://doi.org/10.1016/S1001-6058(13)60428-X
  12. Moreira, L., Fossen, T.I., Guedes Soares, C., 2007. Path following control system for a tanker ship model. Ocean Eng. 34 (14-15), 2074-2085. https://doi.org/10.1016/j.oceaneng.2007.02.005
  13. Mucha, P., el Moctar, O., 2013a. Identification of hydrodynamic derivatives for ship maneuvering prediction in restricted waters. In: Proceedings of the 16th Numerical Towing Tank Symposium. Mulheim, Germany.
  14. Mucha, P., el Moctar, O., 2013b. Ship-bank interaction of a large tanker and related control problems. In: Proceedings of the ASME 32nd International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2013, Nantes, France.
  15. Oh, S.R., Sun, J., 2010. Path following of underactuated marine surface vessels using line-of-sight based model predictive control. Ocean Eng. 37 (2-3), 289-295. https://doi.org/10.1016/j.oceaneng.2009.10.004
  16. Petersen, I.R., McFarlane, D.C., 1994. Optimal guaranteed cost control and filtering for uncertain linear systems. IEEE Trans. Automat. Contr. 30 (9), 1971-1977. https://doi.org/10.1109/9.317138
  17. Pietrzykowski, Z., Wielgosz, M., 2011. Navigation safety assessment in the restricted area with the use of ECDIS. Int. J. Mar. Navig. Saf. Sea Transport. 5 (1), 29-35.
  18. Sano, M., Yasukawa, H., Hata, H., 2012. Experimental study on ship operation in close proximity to bank channel. In: Proceedings of the International Conference on Marine Simulation and Ship Maneuverability. MARSIM, Singapore, 2012.
  19. Sano, M., Yasukawa, H., Hata, H., 2014. Directional stability of a ship in close proximity to channel wall. J. Mar. Sci. Technol. 19 (4), 376-393. https://doi.org/10.1007/s00773-014-0271-4
  20. Thomas, B.S., Sclavounos, P.D., 2007. Optimal control theory applied to ship maneuvering in restricted waters. J. Eng. Math. 58 (1-4), 301-315. https://doi.org/10.1007/s10665-006-9130-6
  21. Yang, X.J., Wang, Z.C., Peng, W.L., 2009. Coordinated control of AFS and DYC for vehicle handling and stability based on optimal guaranteed cost theory. Veh. Syst. Dyn. 47 (1), 57-79. https://doi.org/10.1080/00423110701882264
  22. Yasukawa, H., Hirono, T., Nakayama, Y., Koh, K.K., 2012. Course stability and yaw motion of a ship in steady wind. J. Mar. Sci. Technol. 17 (3), 291-304. https://doi.org/10.1007/s00773-012-0168-z
  23. Yasukawa, H., Sano, M., Amii, H., 2013. Wind effect on directional stability of a ship moving in a channel (in Japanese). J. Jpn. Soc. Nav. Archit. Ocean Eng. 18, 45-53.
  24. Yu, L., Chu, J., 1999. An LMI approach to guaranteed cost control of linear uncertain time delay systems. Automatica 35, 1155-1159. https://doi.org/10.1016/S0005-1098(99)00007-2
  25. Zhang, R.J., Chen, Y.B., Sun, Z.Q., Sun, F.C., Xu, H.Z., 2000. Path control of a surface ship in restricted waters using sliding mode. IEEE Trans. Contr. Syst. Technol. 8 (4), 722-732. https://doi.org/10.1109/87.852916

Cited by

  1. Control system design for vessel towing system by activating rudders of the towed vessel vol.12, 2019, https://doi.org/10.1016/j.ijnaoe.2020.11.008
  2. Path following of underactuated surface ships based on model predictive control with neural network vol.17, pp.4, 2020, https://doi.org/10.1177/1729881420945956
  3. A novel active disturbance rejection control with hyperbolic tangent function for path following of underactuated marine surface ships vol.53, pp.9, 2019, https://doi.org/10.1177/0020294020952484
  4. Path following of under-actuated ships based on model predictive control with state observer vol.26, pp.2, 2019, https://doi.org/10.1007/s00773-020-00746-1