ISSN 2083-6473
ISSN 2083-6481 (electronic version)




Associate Editor
Prof. Tomasz Neumann

Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
www http://www.transnav.eu
e-mail transnav@umg.edu.pl
Ship Course Following and Course Keeping in Restricted Waters Based on Model Predictive Control
H. Liu 1 , N. Ma 1 , X.C. Gu 1
1 Shanghai Jiao Tong University, Shanghai, China
ABSTRACT: 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.
Børhaug, E., Pavlov, A., Pettersen, K. Y. 2008. Integral LOS control for path following of underactuated marine surface vessels in the presence of constant ocean currents. Proc. 47th IEEE Conference on Decision and Control: 4984-4991.
Ch’ng, P. W., Doctors, L. J., Renilson, M. R.1993. A method of calculating the ship-bank interaction forces and moments in restricted water. International Shipbuilding Progress 40(421): 7−23.
Djouani, K. & Hamam, Y. 1995. Minimum time-energy trajectory planning for automatic ship berthing. IEEE Journal of Oceanic Engineering 20(1): 4-12.
Feng, P. Y., Sun, J., Ma, N. 2013. Path following of marine surface vessels using bow and aft rudders in wave fields. Control Applications in Marine Systems 9(1): 120-125.
Fossen, T. I., Breivik, M., Skjetne, R. 2003. Line-of-sight path following of underactuated marine craft. Proceedings of 6th IFAC conference on manoeuvring and control of marine craft. Girona, Spain.
Fujino, M. 1968. Studies on manoeuvrability of ships in restricted waters. Selected Papers Journal of Society of Naval Architecture of Japan 124: 51-72.
Lefeber, E., Pettersen, K. Y., Nijmeijer, H. 2003. Tracking control of an underactuated ship. IEEE Transactions on Control Systems Technology 11: 52–61.
Li, Z., Sun, J., Oh, S. 2010. Handling roll constraints for path following of marine surface vessels using coordinated rudder and propulsion control. American Control Conference 6010-6015.
Li, Z. & Sun, J. 2012. Disturbance compensating model predictive control with application to ship heading control. Control Systems Technology IEEE Transactions 20(1): 257-265.
Liu, H., Ma, N., Gu, X. C. 2016. Numerical simulation of PMM tests for a ship in close proximity to sidewall and maneuvering stability analysis. China Ocean Engineering 30(6):884-897.
Moreira, L, Fossen, T I, Soares, C G. 2007. Path following control system for a tanker ship model. Ocean Engineering 34(14-15): 2074-2085.
Mucha, P., el Moctar, O. 2013. Ship-Bank interaction of a large tanker and related control problems. Proc. of the 32nd ASME International Conference on Ocean, Offshore and Arctic Engineering (OMAE 2013). Nantes, France.
Norrbin, N. H. 1974. Bank effects on a ship moving through a short dredged channel. Proceedings of the 10th Symposium on Naval Hydrodynamics: 71−87. Cambridge, USA.
Oh, S. R. & Sun, J. 2010. Path following of underactuated marine surface vessels using line-of-sight based model predictive control. Ocean Engineering 37(2):289-295.
Pettersen, K. Y. & Nijmeijer, H. 2001. Underactuated ship tracking control: Theory and experiments. International Journal of Control 74(14): 1435–1446.
Sano, M., Yasukawa, H., Hata, H. 2014. Directional stability of a ship in close proximity to channel wall. Journal of Marine Science and Technology 19(4): 376-393.
Skjetne, R., Jørgensen, U., Teel, A. R. 2011. Line-of-sight path-following along regularly parametrized curves solved as a generic maneuvering problem. Proc. 50th IEEE Conference on Decision and Control: 2467-2474.
Szłapczyński, R. 2013. Evolutionary sets of safe ship trajectories with speed reduction manoeuvres within traffic separation schemes. Polish Maritime Research 21(1): 20-27.
Thomas, B.S. & Sclavounos, P.D. 2007. Optimal control theory applied to ship maneuvering in restricted waters. Journal of Engineering Mathematics 58(1): 301-315.
Citation note:
Liu H., Ma N., Gu X.C.: Ship Course Following and Course Keeping in Restricted Waters Based on Model Predictive Control. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 12, No. 2, doi:10.12716/1001.12.02.11, pp. 305-312, 2018
Authors in other databases:
Han Liu: Scopus icon56969857300
Ning Ma:
Xiechong Gu: Scopus icon7403203678

Other publications of authors:

File downloaded 401 times

Important: TransNav.eu cookie usage
The TransNav.eu website uses certain cookies. A cookie is a text-only string of information that the TransNav.EU website transfers to the cookie file of the browser on your computer. Cookies allow the TransNav.eu website to perform properly and remember your browsing history. Cookies also help a website to arrange content to match your preferred interests more quickly. Cookies alone cannot be used to identify you.
Akceptuję pliki cookies z tej strony