Optimal Damping Concept Implementation for Marine Vessels’ Tracking Control

Abstract

This work presents the results of studies related to the design of stabilizing feedback connections for marine vessels moving along initially given trajectories. As is known, in mathematical formalization, this question leads to a problem of tracking control synthesis for nonlinear and non-autonomous plants. To provide desirable stability and performance features of the closed-loop systems to be synthesized, it is appropriate to use an optimization approach. Unlike the known synthesis methods, which are usually used within the framework of this approach, it is proposed to implement the optimal damping concept first developed by V.I. Zubov in the early 60s of the last century. Modern interpretation of this concept allows constructing numerically effective procedures of control law synthesis taking into account its applicability in a real-time regime. Central attention is focused on the questions connected with practical adaptation of the optimal damping methods for marine control systems. The operability and effectiveness of the proposed approach are illustrated by a practical example of tracking control design.

Automatic Control and Routing of Marine Vessels

“…Veremey [9] investigated the design of stabilizing feedback control laws for marine vessels moving along initially given trajectories. Unlike the traditional methods, it is proposed to use an optimization approach and implement the optimal damping (OD) concept, previously developed by V.I.…”

Virtual Sensoring of Motion Using Pontryagin’s Treatment of Hamiltonian Systems

“…Sensing the ocean environment parallels the current emphasis in motion sensing, e.g., Davidson et al’s [ 33 ] parametric resonance technique for wave sensing and Sirigu et al’s [ 34 ] wave optimization via the stochastic genetic algorithm. Motion control similarly mimics the efforts of motion sensing and ocean environment sensing, e.g., Veremey’s [ 35 ] marine vessel tracking control, Volkova et al’s [ 36 ] trajectory prediction using neural networks, and the new guidance algorithm for surface ship path following proposed by Zhang et al [ 37 ]. Virtual sensory will be utilized in this manuscript where noisy state and rate sensors are combined to provide smooth, non-noisy, accurate estimates of state, rate, and acceleration, while no acceleration sensors were utilized.…”