Abstract
Ship transportation plays an increasingly important role in and accounts for a large proportion of cargo transport. Therefore, it is necessary to improve the quality of the trajectory control system of the ship for improving the transport efficiency and ensuring maritime safety. This paper deals with the advanced control system for the three-degrees-of-freedom model of the underactuated ship in the condition of uncertain disturbance. Based on the three-degrees-of-freedom model of the underactuated ship, the authors built a bilinear model of the ship by linearizing each nonlinear model section. Then, the authors used the state estimator to compensate for uncertain components and random disturbances in the model. Finally, the authors built the output-feedback predictive controller based on the channel-separation principle combined with direct observation of the continuous model for controlling the motion of the underactuated ship in the case of uncertain disturbance and the bound control signals. The result is that the movement quality of the underactuated ship is very good in the context of uncertain disturbance and bound control signals.
Highlights
Maritime transport plays a important role in international trade because about 80% of imports and exports are transported through the sea
To verify the quality of the proposed control system, the authors have run the system on Matlab software (R2014b, MathWorks Inc., Natick, MA, USA)
The results show that these errors are very small, so the quality of the control system is very good
Summary
Maritime transport plays a important role in international trade because about 80% of imports and exports are transported through the sea. The works [16,17] proposed the nonlinear disturbance observer based on the kinetic model to estimate the disturbance that is compensated for the controller Another problem faced when designing the trajectory controllers of ship motion is that the studies often ignore the limit of control signals. The research [18] addressed this problem when designing the nonlinear model predictive controller for a ship following a set trajectory. It will compensate for the disturbance components in the object model and the disturbance components from the environment by the state observers based on the continuous object model and the difference between the object model and the reference model It will design the trajectory controller of the underactuated ship based on the model predictive controller (MPC) combined with segment-linearization techniques of the nonlinear object in the time-axial
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