Parametric estimation of ship maneuvering motion with integral sample structure for identification

Cao, Jian; Zhuang, Jian; Xu, Feng; Yin, Jianchuan; Zou, Zao‐jian; Yu, Hao; Tao, Xiao; Luchun, Yang

doi:10.1016/j.apor.2015.06.007

Cited by 25 publications

(5 citation statements)

References 31 publications

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“…Another method to establish the system-based mathematical model is System Identification (SI), which estimates system parameters from the time history of motion of ship obtained by free-running model tests, full-scale ship trial results, or numerical simulation. Several optimization methods for SI had been reported, both on estimation on MMG model and Abkobitz model: Kalman filter [12]; the least-square method [13,14]; support vec-tor regression [15,16,17,18]; generic algorithm [19,20], and Bayesian approach [21].…”

Section: System-based Methodsmentioning

confidence: 99%

System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES

Miyauchi¹,

Maki²,

Umeda³

et al. 2021

Preprint

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Accurate maneuvering estimation is essential to establish autonomous berthing control. The system-based mathematical model is widely used to estimate the ship's maneuver. Commonly, the system parameters of the mathematical model are obtained by the captive model test (CMT), which is time-consuming to construct an accurate model suitable for complex berthing maneuvers. System identification (SI) is an alternative to constructing the mathematical model. However, SI on the mathematical model of ship's maneuver has been only conducted on much simpler maneuver: turning and zig-zag. Therefore, this study investigates the SI on a mathematical model capable of berthing maneuver. The main contributions of this study are as follows: (i) construct the system-based mathematical model on berthing by optimizing system parameters with a reduced amount of model tests than the CMT-based scheme; (ii) Find the favorable choice of objective function and type of training data for optimization. Global optimization scheme CMA-ES explored the system parameters of the MMG model from the free-running model's trajectories. The berthing simulation with the parameters obtained by the proposed method showed better agreement with the free-running model test than parameters obtained by the CMT. Furthermore, the proposed method required fewer data amounts than a CMTbased scheme.

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Section: System-based Methodsmentioning

confidence: 99%

System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES

Miyauchi¹,

Maki²,

Umeda³

et al. 2021

Preprint

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“…In the sway and yaw model identification simulation experiments, the rest parameters related to the sway and yaw motion in equations ( 13)-( 15) are identified. Zigzag tests are widely used in vessel parameters' identification experiments [16,24]. In this paper, a 20°/20°zigzag test contains constant motor speed which is used to generate the training data, as shown in Figure 6 and Table 4.…”

Section: Lateral and Yaw Model Identificationmentioning

confidence: 99%

“…As for the identify method, the least-squares method [20][21][22][23] has been a widely used method in system identification procedure, but the least-squares method can only deal with the linear problem; some identified procedure are abstracted as a nonlinear optimization problem. Support vector machines have the advantage in solving the nonlinear optimization problem, and it was used to identify the parameters of the vessel in [24][25][26][27]. Except for the least-square method and support vector machines method, some other methods are also used to identify the parameters.…”

Section: Introductionmentioning

confidence: 99%

Parameters’ Identification of Vessel Based on Ant Colony Optimization Algorithm

Zhao

2021

Mathematical Problems in Engineering

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In this paper, the ant colony optimization (ACO) method is used to identify the parameters of a 3-DOF nonlinear vessel model. Identifying the parameters is abstracted as a nonlinear optimization problem to solve through the ant colony optimization algorithm. The identification procedure is divided into two parts. The first part of the identification procedure is to identify the parameters related to surge motion. The second part of the identification procedure is to identify the rest parameters of the vessel’s kinetics model. In the surge model identification procedure, the transient motor speed is used to generate the training data, and in the sway and yaw motion identification procedure, the zigzag maneuvering with different motor speeds is used to generate the training data. All the parameters are identified by the ACO method and the least-square (LS) method based on the training data and then validated on the validation data. The prediction performance of parameters identified by different methods is compared in the simulation to demonstrate the effectiveness of the ACO algorithm.

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“…The numerical simulation is beyond many financial and technical possibilities to do a similar simulation for potential field tests. Good examples refer to (Rajesh and Bhattacharyya 2008), (Jian, Jiayuan, Feng, Jianchuan, Zaojian, Hao, Tao, and Luchun 2015), and (Hou and Zou 2016).…”

Section: Data Processingmentioning

confidence: 99%

Optimized support vector regression algorithm-based modeling of ship dynamics

Zhu

Hahn

Wen

et al. 2019

Applied Ocean Research

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This thesis deals with the problem of how to derive a simplistic model feasible for describing the dynamics of ships for maneuvering simulations employed to study maritime traffic and to provide ship models for simulation-based engineering testbeds. The model should be expressed in a simple form with satisfactory accuracy as well as fast computation in simulations. The problem of deriving a ship dynamic model is addressed first with the modification and simplification of a complex vectorial representation in 6 degrees of freedom (DOF). The 6 DOF dynamic model is simplified through several pieces of reasonable assumptions that are exampled as ships moving in the horizontal plane in the ideal fluid, the uniform distribution of ship masses, the port-starboard symmetry. In the process of simplification, the trade-off between the accuracy and the possibility of estimation of the simplified model is regarded as the key criteria. Consequently, a 3 DOF dynamic model in a simple form with four terms for capturing surge motions and eight terms for steering motions is found, in which the reduced-term version of the steering model expressed in five terms is further obtained under the consideration of the There are many people who have earned my gratitude for their valuable contributions to my time at Oldenburg University. More specifically, I would like to thank my supervisor, Prof. Dr.-Ing. Axel Hahn, for his endless support and constant encouragement during my Ph.D. study in the SAMS program. He has given me inspiring guidance on how to conduct scientific research in modeling ship dynamics and system identification. Without his constant support and helpful guidance, this thesis would not have been possible. Axel is the funniest advisor and one of the smartest people I know. He always inspires me with his passionate attitude and forward-looking scientific insights. I would give Axel most of the credit for becoming the kind of scientist I am today. Besides, I am so grateful to Prof. Yuanqiao Wen, my second supervisor, who was also my master supervisor. He led me into the maritime-related scientific research field and taught me how to identify a research question, find a solution to it, and finally publish the results in high-level journals. Even more than 7km distance, he was still glad to provide insightful discussions and suggestions to me whenever I was in confusion of my research. I am also thankful to the members of the doctoral examination committee, Prof. Dr. Martin Fränzle and Dr. Lars Weber for their great support, impressive discussion and invaluable advice. I would also like to express my sincere gratitude to my friends and colleagues for helping me overcome difficulties from work and life. I do like to own my great gratitude to our secretary, Manuela Wüstefeld. I would never forget her warm-heart help and encouragement to me during these years especially the tough period when I was pregnant.

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Parametric estimation of ship maneuvering motion with integral sample structure for identification

Cited by 25 publications

References 31 publications

System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES

System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES

Parameters’ Identification of Vessel Based on Ant Colony Optimization Algorithm

Optimized support vector regression algorithm-based modeling of ship dynamics

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