Ship Course Following and Course Keeping in Restricted Waters Based on Model Predictive Control

Ship navigation safety in restricted water areas is of great concern to crew members, because ships sailing in close proximity to banks are significantly affected by the so-called ship-bank interaction. The purpose of this paper is to apply the optimal control theory to help helmsmen adjust ships’ course and maintain the target course in restricted waters. To achieve this objective, the motion of a very large crude carrier (VLCC) close to a bank is modeled with the linear equations of manoeuvring and the influence of bank effect on the ship hydrodynamic force is considered in the model. State-space framework is cast in a Multiple-Input Multiple-Output (MIMO) system, where the offset-free model predictive control (MPC) is designed for course following and the linear quadratic regulator (LQR) is used for course keeping. Simulation results show that the control methods effectively work in ship course following and course keeping with varying ship-bank distances and water depths. The advantage of adopting speed variation as the second control input is obvious.

• Record URL:
  • https://doi.org/10.12716/1001.12.02.11
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/20836473
• Supplemental Notes:
  • © 2018 H Liu et al.
• Authors:
  • Liu, H
  • Ma, N
  • Gu, X C
• Publication Date: 2018-6

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: pp 305-312
• Serial:
  • TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation
  • Volume: 12
  • Issue Number: 2
  • Publisher: Akademia Morska w Gdyni
  • ISSN: 2083-6473
  • EISSN: 2083-6481
  • Serial URL: http://www.transnav.eu/
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Maneuvering; Maritime safety; Ship pilotage; Very large crude carriers; Vessel traffic control
• Uncontrolled Terms: Linear quadratic regulator
• Subject Areas: Marine Transportation; Safety and Human Factors;

Filing Info

• Accession Number: 01690512
• Record Type: Publication
• Files: TRIS
• Created Date: Dec 31 2018 3:27PM