Path Following with Roll Constraints for Marine Surface Vessels in Wave Fields.

Ship Motion Control;Path Following;Marine Surface Vessels;Back-stepping;Model Predictive Control;Wave Fields;Naval Architecture and Marine Engineering;Engineering;Naval Architecture & Marine Engineering

Li, ZhenPeng, Huei ;

University of Michigan

关键词: Ship Motion Control;    Path Following;    Marine Surface Vessels;    Back-stepping;    Model Predictive Control;    Wave Fields;    Naval Architecture and Marine Engineering;    Engineering;    Naval Architecture & Marine Engineering;   

Others  :  https://deepblue.lib.umich.edu/bitstream/handle/2027.42/63790/lizhen_1.pdf?sequence=1&isAllowed=y

瑞士|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

Ways to improve maneuverability of marine surface vessels through judicious application of advanced control theory are explored. Although for years the problem of marine vessel maneuvering has beenaddressed in many publications, the control design to achieve path following with roll constraints in wave fields remains to be an openproblem. This is the exclusive focus of this research.A ship dynamical model, together with path following error dynamics, is first introduced to facilitate the control design. A numericaltest-bed combining the ship dynamics and wave effects on vessels is also developed to provide a platform for evaluating the performance of ship motion control systems in wave fields. A novel Feedback Dominance Back-Stepping (FDBS) controller is then designed and tuned to achieve path following without roll constraints. This controller is promising for industrial applications, in terms of easy implementation and robustness against model uncertainties anddisturbances. The path following capability and robustness of the FDBS controller are demonstrated through theoretical analysis,numerical simulations, and experimental validations.The need to enforce roll constraints and the fact that the rudder actuation is limited in both amplitude and rate make the Model Predictive Control (MPC) approach a natural choice for the design of the path following controller. The simulation results are presented to verify the effectiveness of the resulting controller and asimulation-based tuning process for the controller is also presented. Meanwhile, through simulations, issues associated with roll constraint violation and successive feasibility have been identified for the standard MPC path following controller in wave fields. Several mitigating strategies, such as constraint tightening and softening and gain re-tuning, are proposed to meet the state constraints of the path following for marine surface vessels in wavefields.Motivated by the constraint violation and feasibility issues of the standard MPC in the presence of disturbances, a novel disturbancecompensating MPC (DC-MPC) algorithm is developed to guarantee the state constraint satisfaction. The satisfactory performance of DC-MPC algorithm is validated by numerical simulations of shipheading control. The limitations of the DC-MPC scheme are discussed along with potential future work.