A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship

Complete nonlinear dynamic manoeuvering models of ships, with numerical values, are hard to find in the literature. This paper presents a modeling, identification, and control design where the objective is to manoeuver a ship along desired paths at different velocities. Material from a variety of references have been used to describe the ship model, its difficulties, limitations, and possible simplifications for the purpose of automatic control design. The numerical values of the parameters in the model is identified in towing tests and adaptive manoeuvering experiments for a small ship in a marine control laboratory.

[1]  Kristin Ytterstad Pettersen,et al.  Tracking control of an underactuated ship , 2003, IEEE Trans. Control. Syst. Technol..

[2]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[3]  Karl-Petter Lindegaard,et al.  Acceleration Feedback in Dynamic Positioning , 2003 .

[4]  Thor I. Fossen,et al.  Fuel-efficient rudder and propeller control allocation for marine craft: experiments with a model ship , 2003, IEEE Trans. Control. Syst. Technol..

[5]  Tor Arne Johansen,et al.  Optimal constrained control allocation in marine surface vessels with rudders , 2003 .

[6]  Miroslav Krstic,et al.  Nonlinear and adaptive control de-sign , 1995 .

[7]  Kensaku Nomoto,et al.  On the steering qualities of ships , 1956 .

[8]  K K Fedyaevsky,et al.  CONTROL AND STABILITY IN SHIP DESIGN , 1964 .

[9]  M A Abkowitz,et al.  LECTURES ON SHIP HYDRODYNAMICS--STEERING AND MANOEUVRABILITY , 1964 .

[10]  Roger Skjetne,et al.  Robust output maneuvering for a class of nonlinear systems , 2004, Autom..

[11]  Ksm Davidson,et al.  TURNING AND COURSE KEEPING QUALITIES OF SHIPS , 1946 .

[12]  K Nomoto.  On the steering qualities of ships , 1957 .

[13]  T.I. Fossen,et al.  On integral control in backstepping: analysis of different techniques , 2004, Proceedings of the 2004 American Control Conference.

[14]  Thor I. Fossen,et al.  Marine Control Systems Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles , 2002 .

[15]  N H Norrbin,et al.  THEORY AND OBSERVATIONS ON THE USE OF A MATHEMATICAL MODEL FOR SHIP MANOEUVRING IN DEEP AND CONFINED WATERS , 1971 .

[16]  Asgeir J. Sørensen,et al.  DESIGN OF A DYNAMIC POSITIONING SYSTEM USING MODEL-BASED CONTROL , 1995 .

[17]  Thor I. Fossen,et al.  Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with a supply vessel , 1999, Autom..

[18]  T. Holzhüter,et al.  LQG approach for the high-precision track control of ships , 1997 .

[19]  Odd M. Faltinsen,et al.  Sea loads on ships and offshore structures , 1990 .

[20]  Roger Skjetne,et al.  Line-of-sight path following of underactuated marine craft , 2003 .

[21]  Roger Skjetne,et al.  Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory , 2005, Autom..

[22]  Asgeir J. Sørensen,et al.  Design of a dynamic positioning system using model-based control , 1995 .