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Optimal tracking control of an underactuated container ship based on direct Gauss Pseudospectral Method

Ghorbani, M. T ; Sharif University of Technology

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  1. Type of Document: Article
  2. Abstract:
  3. In this paper, the problem of optimal tracking control for a container ship is addressed. The multi-input-multi-output nonlinear model of the S175 container ship is well established in the literature and represents a challenging problem for control design, where the design requirement is to follow a commanded maneuver at a desired speed. To satisfy the constraints on the states and the control inputs of the vessel nonlinear dynamics and minimize the heading error, a nonlinear optimal controller is formed. To solve the resulted nonlinear constrained optimal control problem, the Gauss Pseudospectral Method (GPM) is used to transcribe the optimal control problem into a Nonlinear Programming Problem (NLP) by discretization of states and controls. The resulted NLP is then solved by a well-developed algorithm known as SNOPT. The results for course-keeping and course-changing autopilots illustrate the effectiveness of the proposed approach to deal with the vessel tracking control
  4. Keywords:
  5. Gauss pseudospectral transcription ; Tracking ; Airships ; Containers ; Gaussian distribution ; MIMO systems ; Navigation ; Nonlinear programming ; Optimal control systems ; Surface discharges ; Transcription ; Constrained optimal control problems ; Gauss pseudo-spectral methods ; Multi input multi output ; Nonlinear optimal controller ; Nonlinear programming problem ; Optimal controls ; Pseudospectral ; Ship control ; Ships
  6. Source: Scientia Iranica ; Vol. 21, issue. 6 , 2014
  7. URL: http://www.scientiairanica.com/en/ManuscriptDetail?mid=307