Multi-objective model predictive control for ship roll motion with gyrostabilizers

Hu, Lifen; Zhang, Ming; Li, Gang; Yuan, Zhiming; Bi, Junying; Guo, Yanli

doi:10.1016/j.oceaneng.2024.119412

Ocean Engineering

2024

DOI: 10.1016/j.oceaneng.2024.119412

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Multi-objective model predictive control for ship roll motion with gyrostabilizers

Lifen Hu,

Ming Zhang,

Gang Li

et al.

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Cited by 1 publication

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The Path Tracking Control of Unmanned Surface Vehicles Based on an Improved Non-Dominated Sorting Genetic Algorithm II-Based Multi-Objective Nonlinear Model Predictive Control Method

Guo,

Zhu,

Mou

2024

JMSE

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This paper proposes a multi-objective nonlinear model predictive control (MOMPC) method based on an improved non-dominated sorting genetic algorithm II (NSGAII) for the path tracking problem of unmanned surface vehicles (USVs). To enhance performance in cross-track error, a varying look-ahead distance is utilized in the line of sight (LOS) algorithm, which allows the MPC control algorithm to compute the look-ahead distance and desired speed rather than directly calculating the control input. Since the cost function of the MPC algorithm includes multiple objective terms, a multi-objective model predictive control algorithm is employed to improve overall control performance. Additionally, an adaptive rotation-based simulated binary crossover (ARSBX) is integrated into the NSGAII algorithm, and the non-dominated sorting method is optimized to reduce computation time. These enhancements increase diversity and exploration in the solution space, enabling the algorithm to find the optimal solution more efficiently. Simulations conducted in two different scenarios demonstrate that the nonlinear MPC method based on the improved NSGAII successfully tracks the desired path; it achieved an improvement of approximately 41% in time performance and about 5% in path-tracking error performance, exhibiting strong control performance and robustness.

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The Path Tracking Control of Unmanned Surface Vehicles Based on an Improved Non-Dominated Sorting Genetic Algorithm II-Based Multi-Objective Nonlinear Model Predictive Control Method

Guo,

Zhu,

Mou

2024

JMSE

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Multi-objective model predictive control for ship roll motion with gyrostabilizers

Cited by 1 publication

References 35 publications

The Path Tracking Control of Unmanned Surface Vehicles Based on an Improved Non-Dominated Sorting Genetic Algorithm II-Based Multi-Objective Nonlinear Model Predictive Control Method

The Path Tracking Control of Unmanned Surface Vehicles Based on an Improved Non-Dominated Sorting Genetic Algorithm II-Based Multi-Objective Nonlinear Model Predictive Control Method

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