Sharif University of Technology, Department of Mechanical Engineering, Tehran, Iran
Abstract
In this paper, the problem of optimal tracking control for a container ship is addressed. The multi-input–multi-output nonlinear model of the S175 container ship is well established in the literature and represents a challenging problem for control design, where the design requirement is to follow a commanded maneuver at a desired speed. To satisfy the constraints on the states and the control inputs of the vessel nonlinear dynamics and minimize the heading error, a nonlinear optimal controller is formed. To solve the resulted nonlinear constrained optimal control problem, the Gauss Pseudospectral Method (GPM) is used to transcribe the optimal control problem into a Nonlinear Programming Problem (NLP) by discretization of states and controls. The resulted NLP is then solved by a well-developed algorithm known as SNOPT. The results for course-keeping and course-changing autopilots illustrate the effectiveness of the proposed approach to deal with the vessel tracking control.
Ghorbani, M. T., & Salarieh, H. (2014). Optimal Tracking Control of an Underactuated Container Ship Based on Direct Gauss Pseudospectral Method. Scientia Iranica, 21(6), 1973-1980.
MLA
M. T. Ghorbani; H. Salarieh. "Optimal Tracking Control of an Underactuated Container Ship Based on Direct Gauss Pseudospectral Method". Scientia Iranica, 21, 6, 2014, 1973-1980.
HARVARD
Ghorbani, M. T., Salarieh, H. (2014). 'Optimal Tracking Control of an Underactuated Container Ship Based on Direct Gauss Pseudospectral Method', Scientia Iranica, 21(6), pp. 1973-1980.
VANCOUVER
Ghorbani, M. T., Salarieh, H. Optimal Tracking Control of an Underactuated Container Ship Based on Direct Gauss Pseudospectral Method. Scientia Iranica, 2014; 21(6): 1973-1980.
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