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2023 Journal Impact Factor - 0.7
2023 CiteScore - 1.4
ISSN 2083-6473
ISSN 2083-6481 (electronic version)
Editor-in-Chief
Associate Editor
Prof. Tomasz Neumann
Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
e-mail transnav@umg.edu.pl
Ship Course Following and Course Keeping in Restricted Waters Based on Model Predictive Control
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.
KEYWORDS: Safety at Sea, Ship Movement, Multiple Input, Multiple Output (MIMO), Restricted Waters, Very Large Crude Carrier (VLCC), Model Predictive Control (MPC), Linear Quadratic Regulator (LQR), Course
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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:
56969857300
56969857300
Ning Ma:
Xiechong Gu:
7403203678
7403203678
Other publications of authors:
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