Steering model identification and control design of autonomous ship: a complete experimental study

Abstract

ABSTRACT Steering ship models are important for the study of autonomous ship manoeuverability and design of ship motion control system. It is always a difficult task to find the mathematical model by first principle as it needs prior knowledge of hydrodynamic derivatives. The input–output-based system identification theory can be used to establish system mathematical models. A solution is offered by developing a Wi-Fi-based self-propelled, autonomous system for a ship model with Internet of Things (IoT) capabilities to perform manoeuvering and seakeeping tests in indoor environment without any complex mechanical structure, viz. following bridge. The developed autonomous on-board system equipped with main computer, suitable electronics, sensors, data acquisition system and Wi-Fi-based communication system. The developed system offers a cost effective, modular and portable solution to perform hydrodynamic studies of different hull form without incorporating major changes in the system. The use of IoT makes the data accessible to a naval architecture in real-time to analyse the motion response of the ship in different wave conditions and enables to implement the digital twin to simulate the real field scenario. Input–output-based model identification experiments such as turning circle and zig-zag tests are conducted to estimate the first-order steering model parameters and is further extended to design and implementation of a classical proportional–derivative-based steering control. The design is described in this paper with details of implementation on a demonstration oceanographic coastal research vessel. It illustrates the excellent communication between shore station computer and the on-board system on a wire-free model with robust control and exhibiting all the motion behaviour and dynamic effects. Experiments performed in wave basin in different wave conditions validate the efficacy of the proffered method.