Integrated controller-observer system for marine surface vessels

A robust nonlinear controller has been designed to control the surge speed and the heading angle of a marine surface vessel. The control actions are carried out through the propeller and the rudder. Moreover, a nonlinear observer has been devised to accurately estimate the surge speed and the yaw angle and their time derivatives. Both the controller and the observer are designed based on a reduced-order model of the ship. However, their performances have been assessed on a six degree-of-freedom ship model, which accounts for the wave excitation, retardation forces, nonlinear restoring forces, wind and sea-current resistive loads. Furthermore, the model accounts for the physical limitations of both the rudder and the ship propulsion system. The simulation results demonstrate the capability of the integrated controller-observer system in providing a good tracking characteristic of the ship in spite of significant modeling imprecision and environmental disturbances.

[1]  Petar V. Kokotovic,et al.  Nonlinear Control of Ships: A Locally Optimal Design , 1998 .

[2]  A. Strauß.  Theory Of Wing Sections Including A Summary Of Airfoil Data , 2016 .

[3]  Nabil G. Chalhoub,et al.  Design of a robust nonlinear observer for constrained systems , 2011 .

[4]  Thor I. Fossen,et al.  On Global Model Based Observer Designs for Surface Vessels , 2001 .

[5]  Tristan Perez,et al.  Ship Motion Control , 2010 .

[6]  Thor I. Fossen,et al.  Nonlinear Thrust Controller for Marine Propellers in Four-Quadrant Operations , 2007, 2007 American Control Conference.

[7]  Vadim I. Utkin.  Principles of identification using sliding regimes , 1981 .

[8]  Karl Johan Åström,et al.  Adaptive autopilots for tankers , 1979, Autom..

[9]  Thor I. Fossen,et al.  Rudder Roll Stabilization of Ships Subject to Input Rate Saturation Using a Gain Scheduled Control Law , 1998 .

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

[11]  Edward V. Lewis,et al.  Principles of naval architecture , 1988 .

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

[13]  John-Morten Godhavn,et al.  Nonlinear tracking of underactuated surface vessels , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[14]  N. Khaled,et al.  A dynamic model and a robust controller for a fully-actuated marine surface vessel , 2011 .

[15]  Thor I. Fossen,et al.  Path following control system for a tanker ship model , 2007 .

[16]  R. M. Isherwood.  WIND RESISTANCE OF MERCHANT SHIPS , 1972 .

[17]  F.R. Rubio,et al.  LQG/LTR control of ship steering autopilots , 1992, Proceedings of the 1992 IEEE International Symposium on Intelligent Control.

[18]  David E. Hess,et al.  Neural Network Predictions of the 4-Quadrant Wageningen Propeller Series (CD-ROM) , 2006 .

[19]  D J Inman,et al.  Development of a robust non-linear observer for dynamic positioning of ships , 2004 .

[20]  H. Nijmeijer,et al.  Underactuated ship tracking control: Theory and experiments , 2001 .

[21]  Thor I. Fossen,et al.  Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping , 1998, IEEE Trans. Control. Syst. Technol..

[22]  Shyh-Kuang Ueng,et al.  A ship motion simulation system , 2008, Virtual Reality.

[23]  Thor I. Fossen,et al.  A survey on Nonlinear Ship Control: from Theory to Practice , 2000 .

[24]  Zhen Li,et al.  Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels , 2009, Autom..

[25]  O. Egeland,et al.  State-space representation of radiation forces in time-domain vessel models , 2005 .

[26]  J. Slotine,et al.  On Sliding Observers for Nonlinear Systems , 1986, 1986 American Control Conference.

[27]  Thor I. Fossen,et al.  Non-linear and adaptive backstepping designs for tracking control of ships , 1998 .

[28]  S. Żak,et al.  Observation of dynamical systems in the presence of bounded nonlinearities/uncertainties , 1986, 1986 25th IEEE Conference on Decision and Control.

[29]  Sergey V. Drakunov,et al.  A sliding mode observer and controller for stabilization of rotational motion of a vertical shaft magnetic bearing , 1996, IEEE Trans. Control. Syst. Technol..

[30]  S. Drakunov.  Adaptive quasioptimal filter with discontinuous parameters , 1984 .

[31]  Nabil G. Chalhoub,et al.  Fuzzy Sliding Mode Controller for a Flexible Single-Link Robotic Manipulator , 2005 .

[32]  Thor Inge Fossen,et al.  High Performance Ship Autopilot With Wave Filter , 1993 .

[33]  Nabil G. Chalhoub,et al.  Development of a Robust Nonlinear Observer for a Single-Link Flexible Manipulator , 2005 .

[34]  Zhong-Ping Jiang,et al.  Robust adaptive control of underactuated ships on a linear course with comfort , 2003 .

[35]  Stephen P. Banks,et al.  Nonlinear optimal tracking control with application to super-tankers for autopilot design , 2004, Autom..

[36]  Thor I. Fossen.  A Nonlinear Unified State-Space Model for Ship Maneuvering and Control in a Seaway , 2005, Int. J. Bifurc. Chaos.

[37]  Joaquín Aranda,et al.  QFT VERSUS CLASSICAL GAIN SCHEDULING: STUDY FOR A FAST FERRY , 2002 .

[38]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

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

[40]  Thor I. Fossen,et al.  Tutorial on nonlinear backstepping: Applications to ship control , 1999 .

[41]  E. Moyano,et al.  Simulations of an Autonomous In-scale Fast-ferry Model , 2008 .

[42]  Job van Amerongen,et al.  Adaptive steering of ships - A model reference approach , 1982, Autom..

[43]  Thor I. Fossen,et al.  Nonlinear control of ships minimizing the position tracking errors , 1999 .

[44]  J. Hedrick,et al.  Nonlinear Observers—A State-of-the-Art Survey , 1989 .

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