Journal
OCEAN ENGINEERING
Volume 224, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2021.108706
Keywords
Ship roll stabilisation; Fin stabiliser; Model predictive control; Disturbance rejection; Disturbance rate compensation
Funding
- Commonwealth Scholarship Commission (CSC) in the UK [NGSS-2018-73]
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This paper proposes a disturbance observer enhanced model predictive controller (MPC) to mitigate the impact of wave-induced disturbances on ship roll motion. By incorporating a velocity model and designing a control input to counteract the rate of environmental disturbances, the proposed scheme effectively reduces undesired ship roll motion induced by sea waves.
In this paper, a disturbance observer enhanced model predictive controller (MPC) which compensates for the wave-induced disturbance magnitude and rate is proposed for the ship roll motion stabilisation problem. The velocity model of the ship roll motion is used in the controller design to handle slowly varying modelling uncertainties and external disturbances. The rate of change of the disturbances induced by waves is then attenuated by formulating a control input that incorporates the estimated disturbance rate such that it is always in opposition to the rate of the environmental disturbances. The disturbance estimation was achieved by designing an observer based on convex optimisation formulated as an H-2 minimisation problem. Numerical simulation studies, under various conditions of the sea, showed the effectiveness of the proposed MPC scheme in reducing the undesired ship roll motion induced by sea waves.
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