Journal
OCEAN ENGINEERING
Volume 243, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2021.110165
Keywords
Unified seakeeping and manoeuvring model; KVLCC2; Model predictive control; Nonlinear; MPC; PID; LOS Path following; Regular waves
Funding
- Science and Engineering Research Board (SERB) [CRG/2018/004807, SPARC/2018-2019/P935/SL]
Ask authors/readers for more resources
This paper studies a nonlinear model predictive controller for path following of a surface vessel in the presence of regular waves. The controller takes into account various forces and moments affecting the ship's motion and achieves path following through rudder control. The performance of the controller is compared with a basic PID controller.
In this paper, a nonlinear model predictive controller for path following of a surface vessel in the presence of regular waves is studied. A model predictive controller is developed for a 3DoF unified manoeuvring model of the KVLCC2 crude oil tanker. The surge, sway and yaw motions of the ship are influenced by the second order wave drift forces and moments calculated based on a potential flow solver. Propeller thrust, rudder and hydrodynamic forces and moments are computed using empirical formulas available in the literature. For path following purposes, waypoints are assigned in head and beam wave conditions and a line of sight algorithm computes the reference heading angle. The rudder control is exerted by a nonlinear model predictive controller and the effectiveness of the controller is studied. The performance of the nonlinear model predictive controller is compared against that of a basic PID controller.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available