Abstract
The presented work explores the simulation test results of using nonlinear model predictive control algorithm for ship dynamic positioning. In the optimization task, a goal function with a penalty was proposed with a variable prediction step. The results of the proposed control algorithm were compared with backstepping and PID. The effect of estimation accuracy on the control quality with the implemented algorithms was investigated. The proposed version of the MPC-NO controller was shown to have better dynamic and static properties.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Kongsberg: Yara Birkeland - Autonomous ship project. Technical report. https://www.kongsberg.com/maritime/support/themes/autonomous-ship-project-key-facts-about-yara-birkeland/
MUNIN:Maritime Unmanned Navigation through Intelligence in Networks. Technical report. http://www.unmanned-ship.org/munin/about/
NTNU: Autoferry - Autonomous all-electric passenger ferries for urban water transport. Technical report. https://www.ntnu.edu/autoferry
NTNU: Autosea - Sensor fusion and collision avoidance for autonomous surface vehicles. Technical report. https://www.ntnu.edu/autosea/
Rolls-Royce: Remote and Autonomous Ship - the next step. Technical report. https://www.rolls-royce.com/~/media/Files/R/Rolls-Royce/documents/customers/marine/ship-intel/aawa-whitepaper-210616.pdf
Rolls-Royce: SVAN - Safer Vessel with Autonomous Navigation. Technical report. https://breakingwaves.fi/wp-content/uploads/2019/
Balchen, J.G., Jenssen, N.A., Sælid, S.: Dynamic positioning using kalman filtering and optimal control theory. In: IFAC/IFIP Symposium on Automation in Offshore Oil Field Operation, vol. 183, p. 186 (1976)
Dębowski, A.: Automatyka: podstawy teorii. Wydawnictwo WNT, Warszawa (2012)
Fannemel, Å.V.: Dynamic positioning by nonlinear model predictive control. Master’s thesis, Institutt for teknisk kybernetikk (2008)
Faÿ, H.: Dynamic Positioning Systems: Principles, Design, and Applications. Editions OPHRYS (1990)
Fossen, T.I.: Handbook of Marine Craft Hydrodynamics and Motion Control, 2nd edn. John Wiley & Sons Ltd., Chichester (2021)
Fossen, T.I.: Guidance and Control of Ocean Vehicles. John Wiley & Sons Inc., Hoboken (1994)
Grimble, M., Patton, R., Wise, D.: The design of dynamic ship positioning control systems using extended kalman filtering techniques. In: OCEANS 1979, pp. 488–497. IEEE (1979)
Grimble, M.J., Johnson, M.A.: Optimal Control and Stochastic Estimation: Theory and Applications. John Wiley & Sons Inc., Heidelberg (1986)
Jaroś, K., Śmierzchalski, R., Witkowska, A.: Analysis of data fusion algorithms for the vessel with the dynamic positioning system. Przegla̧d Elektrotechniczny, 35–39 (2022)
Liu, L., Wang, D., Peng, Z.: Direct and composite iterative neural control for cooperative dynamic positioning of marine surface vessels. Nonlinear Dyn. 81(3), 1315–1328 (2015). https://doi.org/10.1007/s11071-015-2071-8
Stephens, R.I., Burnham, K.J., Reeve, P.J.: A practical approach to the design of fuzzy controllers with application to dynamic ship positioning. IFAC Proc. Vol. 28(2), 370–377 (1995)
Tannuri, E.A., Agostinho, A.C., Morishita, H.M., Moratelli, L., Jr.: Dynamic positioning systems: an experimental analysis of sliding mode control. Control Eng. Pract. 18(10), 1121–1132 (2010)
Tatjewski, P.: Sterowanie zaawansowane obiektów przemysłowych: struktury i algorytmy. Akademicka Oficyna Wydawnicza EXIT (2002)
Hans Anton Tvete. Unmanned vessels, the DNV GL Revolt project. Technical report (2015). https://iumi.com/images/Berlin2015/3Pressies/1609 HansAntonTvete.pdf
Witkowska, A., Śmierzchalski, R.: Adaptive dynamic control allocation for dynamic positioning of marine vessel based on backstepping method and sequential quadratic programming. Ocean Eng. 163, 570–582 (2018)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Jaros, K., Smierzchalski, R., Witkowska, A. (2023). Ship Dynamic Positioning Based on Nonlinear Model Predictive Control. In: Pawelczyk, M., Bismor, D., Ogonowski, S., Kacprzyk, J. (eds) Advanced, Contemporary Control. PCC 2023. Lecture Notes in Networks and Systems, vol 709. Springer, Cham. https://doi.org/10.1007/978-3-031-35173-0_33
Download citation
DOI: https://doi.org/10.1007/978-3-031-35173-0_33
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-35172-3
Online ISBN: 978-3-031-35173-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)