Citation:
Abbas Ghassemzadeh,Haitong Xu,C. Guedes Soares.Optimal Path Following Controller Design Based on Linear Quadratic Regulator for Underactuated Ships in Varying Wave and Wind Conditions[J].Journal of Marine Science and Application,2024,(4):927-946.[doi:10.1007/s11804-024-00540-0]
Click and Copy
Optimal Path Following Controller Design Based on Linear Quadratic Regulator for Underactuated Ships in Varying Wave and Wind Conditions
Abbas Ghassemzadeh,Haitong Xu,C. Guedes Soares.Optimal Path Following Controller Design Based on Linear Quadratic Regulator for Underactuated Ships in Varying Wave and Wind Conditions[J].Journal of Marine Science and Application,2024,(4):927-946.[doi:10.1007/s11804-024-00540-0]
Info
- Title:
- Optimal Path Following Controller Design Based on Linear Quadratic Regulator for Underactuated Ships in Varying Wave and Wind Conditions
- Author(s):
- Abbas Ghassemzadeh; Haitong Xu; C. Guedes Soares
- Affilations:
- DOI:
- 10.1007/s11804-024-00540-0
- Abstract:
- This study presents an optimisation-based approach for determining controller gains in ship path-following under varying sea states, wave, and wind directions. The dynamic Line of Sight approach is used to regulate the rudder angle and guide the Esso Osaka ship along the desired path. Gains are optimised using a genetic algorithm and a comprehensive cost function. The analysis covers a range of wave attack directions and sea states to evaluate the controller performance. Results demonstrate effective convergence to the desired path, although a steady-state error persists. Heading and rudder angle performance analyses show successful convergence and dynamic adjustments of the rudder angle to compensate for deviations. The findings underscore the influence of wave and wind conditions on ship performance and highlight the need for precise gain tuning. This research contributes insights into optimising and evaluating path-following controllers for ship navigation.
References:
Abkowitz MA (1980) Measurement of hydrodynamic characteristics from ship manoeuvring trials by system identification. Transactions of Society of Naval Architects and Marine Engineers, 88: 283-318
Armudi A, Marques WC, Oleinik PH (2017) Analysis of ship behavior under influence of waves and currents. Revista de Engenharia Térmica. 16(2): 18. https://doi.org/10.5380/reterm.v16i2.62206
Astolfi A, Karagiannis D, Ortega R (2007) Non-linear and Adaptive Control with Applications. Springer London
Aung MZ, Umeda N (2020) Manoeuvring simulations in adverse weather conditions with the effects of propeller and rudder emergence taken into account. Ocean Eng. 197, 106857. https://doi.org/10.1016/j.oceaneng.2019.106857
Aydin ?, ünal UO, Sari?z K (2022) Computation of environmental loads towards an accurate dynamic positioning capability analysis. Ocean Eng. 243, 110201
Bali A., Singh UP, Kumar R, Jain S (2024) Neural Networks Based-Adaptive Control of Non-linear Ship Manoeuvring System. J Control Autom Electr Syst 35, 314-325
Banazadeh A, Ghorbani MT (2013) Frequency domain identification of the Nomoto model to facilitate Kalman filter estimation and PID heading control of a patrol vessel. Ocean Eng. 72, 344-355. https://doi.org/10.1016/j.oceaneng.2013.07.003
Bitner-Gregersen EM, Guedes Soares C, Vantorre M (2016) Adverse weather conditions for ship manoeuvrability. Transp. Res. Proc. 14, 1631-1640. https://doi.org/10.1016/j.trpro.2016.05.128
Bitner-Gregersen EM, Waseda T, Parunov J, Yim S, Hirdaris S, Ma N, Guedes Soares C (2022) Uncertainties in long-term wave modelling. Mar. Struct. 84, 103217. https://doi.org/10.1016/j.marstruc.2022.103217
Boyd S, Vandenberghe L (2004) Convex Optimization. Cambridge: Cambridge University Press
Cai Z, He C, Liu X, Chen W (2023) On the wave height distribution of waves and wave packets around a reef lagoon of the South China Sea. Ocean Eng. 269, 113560. https://doi.org/10.1016/j.oceaneng.2022.113560
Chen C (2018) Case study on wave-current interaction and its effects on ship navigation. J Hydrodyn. 30: 411-419. https://doi.org/10.1007/s42241-018-0050-5
Chen G, Yin J, Yang S (2023) Ship autonomous berthing simulation based on covariance matrix adaptation evolution strategy. J. Mar. Sci. Eng. 11, 1400. https://doi.org/10.3390/jmse11071400
Chen Q, Yang J, Mao J, Liang Z, Lu C, Sun PA (2023) Path following controller for deep-sea mining vehicles considering slip control and random resistance based on improved deep deterministic policy gradient. Ocean Eng. 278, 114069. https://doi.org/10.1016/j.oceaneng.2023.114069
Codesseira VC, Tannuri EA (2021) Path following control for autonomous ship using model Predictive Control. IFAC-PapersOnLine. 54(16): 57-62. https://doi.org/10.1016/j.ifacol.2021.10.073
Das S, Talole SE, (2015). Effect of Environmental Disturbances on Marine Surface Vessels. MILIT J. 4, 21-26
Deng Y, Zhang X, Im N, Zhang G, Zhang Q (2020) Model-based event-triggered tracking control of underactuated surface vessels with minimum learning parameters. IEEE Transactions on Neural Networks and Learning Systems, 31(10): 4001-4014
Du W, Li Y, Zhang G, Wang C, Chen P, Qiao J (2021) Estimation of ship routes considering weather and constraints. Ocean Eng. 228, 108695. https://doi.org/10.1016/j.oceaneng.2021.108695
Feng X, Xiao T, Xing X, Liu Z (2014) Identification of Nomoto models with integral sample structure for identification. In Proceedings of the 33rd Chinese Control Conference China, 6721-6725. https://doi.org/10.1109/ChiCC.2014.6896105
Ferrari V, Moreira L, Sutulo S, Guedes Soares C (2012) Influence of sea currents on manoeuvring of a surface autonomous model. In Guedes Soares C, Garbatov Y, Sutulo S, Santos TA Eds. Maritime Engineering and Technology, 173-180. London, UK: Taylor & Francis Group
Fossen TI (2011) Handbook of marine craft hydrodynamics and motion control. John Wiley and Sons, Ltd
Ghassemzadeh A, Xu H, Guedes Soares C (2023) Path following control using robust sliding mode for an autonomous surface vessel based on ε-support vector regression identified steering model. Ocean Engineering, 288, 116085. https://doi.org/10.1016/j.oceaneng.2023.116085
Hassani V, S?rensen AJ, Pascoal AM, Athans M (2017) Robust dynamic positioning of offshore vessels using mixed-μ synthesis modeling, design, and practice. Ocean Eng. 129, 389-400
Hinostroza MA, Xu H, Guedes Soares C (2018) Path-planning and path-following control system for autonomous surface vessel. In Maritime Transportation and Harvesting of Sea Resources; Guedes Soares C, Teixeira AP, Eds. Taylor & Francis Group, London, UK, 991-998
IMO (2021) Guidance for determining minimum propulsion power to maintain the Maneuverability of ships in adverse condition. MEPC.1/Circ.850/Rev.3
ITTC (2000) General 1.1. Membership and Meetings. Proceedings of the 23rd ITTC. Vol II
Jafari M, Vatani A, Salarieh H (2018) Maneuvering control of a marine surface vessel using a non-linear feedback controller. J. Mar. Sci. Appl. 17(2): 237-245
Jiang X, Xia G (2022) Sliding mode formation control of leaderless unmanned surface vehicles with environmental disturbances. Ocean Eng. 244, 110301. https://doi.org/10.1016/j.oceaneng.2021.110301
Journée J (2001) A simple method for determining the manoeuvring indices K and T from zigzag trial data. Ship Hydromechanics Laboratory, Delft University of Technology, Netherlands
Kim D (2018) Estimation of hydrodynamic coefficients from results of real ship sea trials. Polish Maritime Research. 25, 65-72
Kim DJ, Yun K, Park JY, Yeo DJ, Kim YG (2019) Experimental investigation on turning characteristics of KVLCC2 tanker in regular waves, Ocean Eng. 175,197-206, 0029-8018. https://doi.org/10.1016/j.oceaneng.2019.02.011
Kim DJ, Choi H, Yun K, Yeo DJ, Kim YG (2022) Experimental study on turning characteristics of KVLCC2 tanker in long-crested irregular waves. Ocean Eng. 244, 110362. https://doi.org/10.1016/j.oceaneng.2021.110362
Kim D, Tezdogan T (2022) CFD-based hydrodynamic analyses of ship course keeping control and turning performance in irregular waves. Ocean Eng. 248, 110808. https://doi.org/10.1016/j.oceaneng.2022.110808
Koyama T (1967) On the optimum automatic steering system of ships at sea. Journal of Zosen Kiokai. 1967(122): 18-35
Lan J, Zheng M, Chu X, Ding S (2023) Parameter prediction of the non-linear Nomoto model for different ship loading conditions using support vector regression. J. Mar. Sci. Eng. 11(5). https://doi.org/10.3390/jmse11050903
LeCun Y, Bengio Y, Hinton G (2015) Deep learning. Nature 521, 436-444
Li G, Zhang X (2022) Research on the influence of wind, waves, and tidal current on ship turning ability based on Norrbin model. Ocean Eng. 259, 111875. https://doi.org/10.1016/j.oceaneng.2022.111875
Li Y (2004) The simulation of ship maneuvering and course keeping with escort tug. Master dissertation. The University of British Columbia
Li Z, Li R, Bu R (2021) Path following of under-actuated ships based on model predictive control with state observer. JASNAOE. 26, 408-418. https://doi.org/10.1007/s00773-020-00746-1
Lucas C, Boukhanovsky A, Guedes Soares C (2011) Modeling the climatic variability of directional wave spectra. Ocean Eng. 38(11), 1283-1290. https://doi.org/10.1016/j.oceaneng.2011.04.003
Ma C, Hino T, Ma N, Takagi Y (2022) CFD investigation on the hydrodynamic loads and motions when ship maneuvers in regular and irregular waves. Ocean Eng. 266, 113040. https://doi.org/10.1016/j.oceaneng.2022.113040
McTaggart KA (1992) Wind effects on intact ship stability in beam seas. J. Wind. Eng. Ind. Aerodyn. 44(1): 2487-2498. https://doi.org/10.1016/0167-6105(92)90040-H
McTaggart K (2008) Improved maneuvering forces and autopilot modelling for the ShipMo3D Ship Motion Library. Defence Research and Development Canada. 162
Mei B, Sun L, Shi G (2020) Full-scale maneuvering trials correction and motion modelling based on actual sea and weather conditions. Sensors. 20, 3963. https://doi.org/10.3390/s20143963
Min B, Zhang X (2021) Concise robust fuzzy non-linear feedback track keeping control for ships using multi-technique improved LOS guidance. Ocean Eng. 224, 108734. https://doi.org/10.1016/j.oceaneng.2021.108734
Moreira L, Fossen TI, Guedes Soares C (2007) Path following control system for a tanker ship model. Ocean Eng. 34(14): 2074-2085. https://doi.org/10.1016/j.oceaneng.2007.02.005
Neary VS, Ahn S (2023) Global atlas of extreme significant wave heights and relative risk ratios. Renewable Energy. 208: 130-140. https://doi.org/10.1016/j.renene.2023.03.079
Norrbin NH (1972) On the added resistance due to steering on a straight course. In: Proceedings of the 13th ITTC. Berlin, Hamburg, Germany
Qu X, Jiang Y, Zhang R, Long F (2023) A deep reinforcement learning-based path-following control scheme for an uncertain under-actuated autonomous marine vehicle. Journal of Marine Science and Engineering, 11(9): 1762
Ren RY, Zou ZJ, Wang Y D, Wang XG (2018) Adaptive Nomoto model used in the path following problem of ships. J. Mar. Sci. Technol. 23(4): 888-898. https://doi.org/10.1007/s00773-017-0518-y
Ren Y, Zhang L, Huang W, Chen X (2023) Neural network-based adaptive sigmoid circular path-following control for underactuated unmanned surface vessels under ocean disturbances. Journal of Marine Science and Engineering, 11(11): 2160
Ribeiro MT, Singh S, Guestrin C (2016) Why should i trust you? Explaining the predictions of any classifier. Proceedings of the 22nd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining
Sayyaadi H, Ghassemzadeh A (2018) Control of multiple underwater vessels to converge to a desired pattern. International Journal of Maritime Technology, 9(1): 51-57. https://doi.org/10.29252/ijmt.9.51
Schmidhuber J (2015) Deep learning in neural networks: an overview. Neural Networks, 61: 85-117
Seo MG, Nam BW, Kim YG (2019) Numerical evaluation of ship turning performance in regular and irregular waves. J. Offshore Mech. Arct. Eng. 142(2). https://doi.org/10.1115/1.4045095
Skejic R, Faltinsen OM (2013) Maneuvering behavior of ships in irregular waves. Proceedings of the ASME 32nd International Conference on Ocean, Offshore and Arctic Engineering. Nantes, France, 9: 9-14
Sutton RS, Barto AG (2018) Reinforcement learning: An introduction. 2nd ed. The MIT Press
Sutulo S, Guedes Soares C (2011) Mathematical models for simulation of manoeuvring performance of ships. In Guedes Soares C, Garbatov Y, Fonseca N, Teixeira AP Eds. Marine Technology and Engineering, 661-698. London, UK: Taylor & Francis Group
Sutulo S, Guedes Soares C (2024) Nomoto-type manoeuvring mathematical models and their applicability to simulation tasks. Ocean Engineering, 117639. https://doi.org/10.1016/j.oceaneng.2024.117639
Terada D, Matsuda M (2023) On rudder-roll stabilisation autopilot based on response models. Ocean Eng. 272, 113869. https://doi.org/10.1016/j.oceaneng.2023.113869
Tiwari K, Krishnankutty P (2021) Comparison of PID and LQR controllers for dynamic positioning of an oceanographic research vessel. In: Sundar V, Sannasiraj SA, Sriram V, Nowbuth MD, eds. Proceedings of the Fifth International Conference in Ocean Engineering (ICOE2019). Lecture Notes in Civil Engineering, vol 106. Springer, Singapore. https://doi.org/10.1007/978-981-15-8506-7_28
Van Amerongen J, Van Nauta Lemke HR (1978) Optimum steering of ships with an adaptive autopilot. In: Proceedings of the 5th Ship Control Systems Symposium. Annapolis, USA
Vettor R, Guedes Soares C (2015) Detection and analysis of the main routes of voluntary observing ships in the North Atlantic. Journal of Navigation. 68(2): 397-410
Woo J, Yu C, Kim N (2019) Deep reinforcement learning-based controller for path following of an unmanned surface vehicle. Ocean Eng. 183, 155-166. https://doi.org/10.1016/j.oceaneng.2019.04.099
Xiao L, Fossen TI, Jouffroy J (2012) Non-linear robust heading control for sailing yachts. IFAC Proceedings, 45(27): 404-409. https://doi.org/10.3182/20120919-3-IT-2046.00069
Xu H, Guedes Soares C (2016a) Vector field path following for surface marine vessel and parameter identification based on LS-SVM. Ocean Eng. 113, 151-161.
Xu H, Guedes Soares C (2016b) Waypoint-following for a marine surface ship model based on vector field guidance law. In Maritime Technology and Engineering 3; Guedes Soares C, Santos TA, Eds.; Taylor & Francis Group: London, UK. Vol 1, 409-418
Xu H, Hassani V, Guedes Soares C (2019) Uncertainty analysis of the hydrodynamic coefficients estimation of a non-linear manoeuvring model based on planar motion mechanism tests. Ocean Eng. 173, 450-459. https://doi.org/10.1016/j.oceaneng.2018.12.075
Xu H, Hassani V, Guedes Soares C (2020) Truncated least square support vector machine for parameter estimation of a non-linear manoeuvring model based on PMM tests. Appl. Ocean Res. 97, 102076. https://doi.org/10.1016/j.apor.2020.102076
Xu H, Hinostroza MA, Guedes Soares C (2021) Modified vector field path-following control system for an underactuated autonomous surface ship model in the presence of static obstacles. J. Mar. Sci. Eng. 9(6). https://doi.org/10.3390/jmse9060652
Xu H, Pires da Silva P, Guedes Soares C (2024) Effect of sampling rate in sea trial tests on the estimation of hydrodynamic parameters for a non-linear ship manoeuvring model. J. Mar. Sci. Eng., 12(3): 407. https://doi.org/10.3390/jmse12030407
Yang H, Deng F, He Y, Jiao D, Han Z (2020) Robust non-linear model predictive control for reference tracking of dynamic positioning ships based on non-linear disturbance observer, Ocean Eng, 215, 107885. https://doi.org/10.1016/j.oceaneng.2020.107885
Yu J, Yao C, Liu L, Zhang Z, Feng D (2021) Assessment of full-scale KCS free running simulation with body-force models. Ocean Eng. 237, 109570
Zhang H, Zhang X, Bu R (2022) Sliding mode adaptive control for ship path following with sideslip angle observer. Ocean Eng. 251, 111106. https://doi.org/10.1016/j.oceaneng.2022.111106
Zhang X, Xiong W, Xiang X, Wang Z (2019) Real-time simulation of a rescue ship maneuvering in short-crested irregular waves. IEEE Access. 7, 133936-133950. https://doi.org/10.1109/ACCESS.2019.2941591
Zhang Z, Zhao Y, Zhao G, Wang H, Zhao Y (2021) Path-following control method for surface ships based on a new guidance algorithm. J. Mar. Sci. Eng. 9, 166. https://doi.org/10.3390/jmse9020166
Zhou Y, Daamen W, Vellinga T, Hoogendoorn SP (2020) Impacts of wind and current on ship behavior in ports and waterways: A quantitative analysis based on AIS data. Ocean Eng. 213, 107774. https://doi.org/10.1016/j.oceaneng.2020.107774
Zhu M, Hahn A, Wen YQ (2018) Identification-based controller design using cloud model for course-keeping of ships in waves. Engineering Applications of Artificial Intelligence. 75: 22-35. https://doi.org/10.1016/j.engappai.2018.07.011
Zhu M, Sun W, Hahn A, Wen Y, Xiao C, Tao W (2020) Adaptive modeling of maritime autonomous surface ships with uncertainty using a weighted LS-SVR robust to outliers. Ocean Eng. 200, 107053. https://doi.org/10.1016/j.oceaneng.2020.107053
Memo
- Memo:
-
Received date:2024-4-29;Accepted date:2024-5-1。
Foundation item:This work is financially supported by the Portuguese Foundation for Science and Technology (Funda??o para a Ciência e Tecnologia-FCT), and it contributes to the Strategic Research Plan of the Centre for Marine Technology and Ocean Engineering (Grant No. UIDB/UIDP/00134/2020). The FCT has also funded the first author for his doctoral fellowship (Grant No. 2023.03496.BD).
Corresponding author:Abbas Ghassemzadeh,E-mail:abbasali@centec.tecnico.ulisboa.pt
