Stabilisation of ship roll motion via switched controllers

Koshkouei, Ali J.; Nowak, Lukas

doi:10.1016/j.oceaneng.2012.04.002

Cited by 18 publications

(4 citation statements)

References 10 publications

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“…The first target, called dynamic positioning (DP), involves station keeping, position mooring and dynamic tracking control at low speed [17][18][19][20][21]. High-speed steering includes automatic heading control [22][23][24][25][26][27][28][29][30], high speed position tracking [31][32][33][34][35][36], path following [37][38][39][40], roll motion control [41][42][43] and formation control [44,45].…”

Section: Introductionmentioning

confidence: 99%

Control of Dynamic Positioning System with Disturbance Observer for Autonomous Marine Surface Vessels

Tomera

Podgórski

2021

Sensors

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The main goal of the research is to design an efficient controller for a dynamic positioning system for autonomous surface ships using the backstepping technique for the case of full-state feedback in the presence of unknown external disturbances. The obtained control commands are distributed to each actuator of the overactuated vessel via unconstrained control allocation. The numerical hydrodynamic model of CyberShip I and the model of environmental disturbances are applied to simulate the operation of the ship control system using the time domain analysis. Simulation studies are presented to illustrate the effectiveness of the proposed controller and its robustness to external disturbances.

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Section: Introductionmentioning

confidence: 99%

Control of Dynamic Positioning System with Disturbance Observer for Autonomous Marine Surface Vessels

Tomera

Podgórski

2021

Sensors

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“…The conventional roll reduction devices at full speed are bilge keel, anti-rolling tank, moving weight and gyrostabiliser [7]. The bilge keel is a passive anti-rolling device.…”

Section: Introductionmentioning

confidence: 99%

Experimental study on the control form of fin stabilizer at zero speed

et al. 2019

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The zero-speed fin stabilizer is used to stabilize the roll motion of the ship at full speed. It has two working modes, that is the lift-based normal anti-rolling mode and the drag-based zero-speed anti-rolling mode. Different force generation mechanisms cause different control methods, especially in the form of control. The zero-speed fin stabilizer works in a sinusoidal fashion in normal mode, the same as the conventional fin stabilizer. However, its control form at zero speed is not particularly clear. This paper aims to investigate the control form of fin stabilizer at zero speed through a composite method of theoretical analysis and experimental research. Based on the established reaction force model, the forces generated on the fin flapped in sinusoidal and trapezoidal forms are compared and analyzed. It is found that the trapezoidal form flapping with a small half-cycle ratio generates larger force than the sinusoidal flapping form when the flapping amplitude is the same. The forced rolling tank tests with the fins flapping in sinusoidal and trapezoidal forms were conducted. The test results are consistent with the theoretical analysis results, and the trapezoidal flapping form with a proper small half-cycle ratio is recommended for fin stabilizers at zero speed. The control strategy of fin stabilizer at zero speed is obtained based on the further analysis of the force characteristics of the trapezoidal flapping form and the limitations of the actual fin stabilizer actuation system. The model and full scale roll reduction tests at zero speed were conducted, achieving more than 70% and 60% of the anti-rolling effect respectively. The test results further verify the effectiveness, applicability and practicability of the obtained control form and strategy for fin stabilizers in at-anchor conditions, and can be a reference for engineering practice and other similar studies.

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“…This carried out by assigning the appropriate weight to respective candidate controller to get desired or optimum performance. The adaptive weighing principle [32][33][34] for prioritizing the controllers is inspired from Koshkouei and Nowak, 35 Chao et al 36 and Saikrishna and Pasumarthy. 37 Instead of employing search algorithms for the optimum weight pairs, gradient descent algorithm can be used, 38,39 which is efficient and relatively faster for online updating of the weights.…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of adaptive control logic for cart-inverted pendulum system

Hanwate

Hote

Budhraja

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, an adaptive control logic is proposed to serve as a supervisory control system sufficient to curb the adverse effects due to modelling uncertainties and external disturbances. The control logic belongs to the class of adaptive control methodologies. The attractive attribute of this technique is that only the superior features of each individual candidate controller are obtained by applying appropriate weight to these controllers. In order to prove its effectiveness and applicability, the benchmark problem for stabilization of cart-inverted pendulum system is carried out using this technique. The system performance is tried against that with each individual candidate controllers existing techniques. In addition, the simulation-based analysis is strengthened by analysing the performance of a real-time cart-inverted pendulum system setup, stabilized using the proposed control logic.

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Stabilisation of ship roll motion via switched controllers

Cited by 18 publications

References 10 publications

Control of Dynamic Positioning System with Disturbance Observer for Autonomous Marine Surface Vessels

Control of Dynamic Positioning System with Disturbance Observer for Autonomous Marine Surface Vessels

Experimental study on the control form of fin stabilizer at zero speed

Design and implementation of adaptive control logic for cart-inverted pendulum system

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