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. and Salarieh, H. (2014). Optimal Tracking Control of an Underactuated Container Ship Based on Direct Gauss Pseudospectral Method. Scientia Iranica, 21(6), 1973-1980.
MLA
Ghorbani, M. T. , and Salarieh, H. . "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.
CHICAGO
M. T. Ghorbani and H. Salarieh, "Optimal Tracking Control of an Underactuated Container Ship Based on Direct Gauss Pseudospectral Method," Scientia Iranica, 21 6 (2014): 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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