Dynamic positioning of marine vessel based on LQ controller optimized by the MPSO

Abstract

At present, the earth's land resources have been a lot of exploration and development, human beings are facing the crisis of resource depletion, marine resources have become the focus of the current resource competition battlefield, a variety of advanced theories and technologies have been applied to the marine vessels, so that it has more excellent exploration ability, and can complete the established tasks more efficiently and stably. While the marine vessel needs to keep its position in the offshore operation, the traditional anchor positioning method can't guarantee the accuracy, and has the disadvantage of instability, which can't meet the requirements of modern operation tasks, so it needs efficient dynamic positioning means. This paper mainly studies the design of the top-level control algorithm of marine vessels dynamic positioning. Referring to the mutation idea of genetic algorithm and combining with particle swarm optimization(PSO) algorithm, the mutation particle swarm optimization(MPSO) algorithm is proposed to optimize the linear quadratic(LQ) controller, so as to improve the control accuracy of dynamic positioning and shorten the response time to the target control. The optimized controller is proved in the simulation experiment control effect.