Abstract
The main goal of the research is to design an efficient controller for a dynamic positioning system for autonomous surface ships using the backstepping technique for the case of full-state feedback in the presence of unknown external disturbances. The obtained control commands are distributed to each actuator of the overactuated vessel via unconstrained control allocation. The numerical hydrodynamic model of CyberShip I and the model of environmental disturbances are applied to simulate the operation of the ship control system using the time domain analysis. Simulation studies are presented to illustrate the effectiveness of the proposed controller and its robustness to external disturbances.
Highlights
Extensive development work is currently underway on the concept of the MaritimeAutonomous Surface Ship (MASS), which requires new solutions in many areas: law, economics, guidance, control and navigation [1,2,3]
Ship navigation on the desired route defined in the above way requires the design of a control system that is capable of executing various tasks, such as ship undocking and docking, maneuvering in the port area, movement along the desired route with transit speed and stopping on the route
The article presents a ship motion control system with a disturbance observer for the dynamic positioning of a fully actuated autonomous marine surface vessel in the presence of uncertain time-variant disturbances due to wind, waves and ocean currents. Both the Coriolis and centripetal matrix and the linear damping matrix are considered in the mathematical model of the vessel
Summary
Extensive development work is currently underway on the concept of the MaritimeAutonomous Surface Ship (MASS), which requires new solutions in many areas: law, economics, guidance, control and navigation [1,2,3]. Automated navigation tasks require the further development of high-level control systems; in particular, with respect to such issues as path planning and collision avoidance [4,5,6,7,8,9,10,11,12,13,14,15]. Model-based control is used to steer and dynamically position the ship This type of determining control algorithm became the most common approach in the beginning of the 1960s, when such techniques as the Linear Quadratic-Gaussian (LQG) and other approaches determined in the state space were used. The models used in the design of model-based control systems depend on control objectives. These targets can be roughly divided into low-speed positioning and high-speed steering [16]. High-speed steering includes automatic heading control [22,23,24,25,26,27,28,29,30], high speed position tracking [31,32,33,34,35,36], path following [37,38,39,40], roll motion control [41,42,43] and formation control [44,45]
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