The optimal control system of the ship based on the linear quadratic regular algorithm

Abstract

In this paper, the authors propose an optimal controller for the ship motion. Firstly, the model and dynamic equations of the ship motion are presented. Based on the model of the ship motion, the authors build the linear quadratic regular algorithm-based control system of ship motion to minimize the error between the desired trajectory and the response trajectory. The task of the controller is to control the trajectory of the ship to coincide with the desired trajectory. The ship model and controller are built to investigate the system quality through Matlab-Simulink software. The results show that the quality of the hold control system is very high. The trajectory of a ship always follows the desired trajectory with very small errors.

Development of a new linearizing controller using Lyapunov stability theory and model reference control

“…where: 𝑹 ̅ > 𝟎 and 𝑸 ̅ ≥ 𝟎 are weighting matrices [30], [31]. Equation ( 27) is minimized under the model ( 24)…”