| DOI | Resolve DOI: https://doi.org/10.1109/AUV50043.2020.9267928 |
|---|
| Author | Search for: Alagili, Osama; Search for: Islam Khan, Mohammad Aminul; Search for: Ahmed, Salim; Search for: Imtiaz, Syed; Search for: Zaman, Hasanat1; Search for: Islam, Mohammed1ORCID identifier: https://orcid.org/0000-0002-2129-5333 |
|---|
| Affiliation | - National Research Council Canada. Ocean, Coastal and River Engineering
|
|---|
| Format | Text, Article |
|---|
| Conference | 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), September 30 - October 2, 2020, St Johns, NL, Canada |
|---|
| Subject | smart sensing; autonomous ships; dynamic positioning; offshore drilling/production; control algorithms; decision support system; alarm monitoring; mathematical model; marine vehicles; sea measurements; acceleration; observers; heuristic algorithms; tuning |
|---|
| Abstract | Performances of a set of control schemes for dynamic positioning (DP) are studied in this work; DP performance is essential for future developments of autonomous shipping technology. The linear and non-linear model predictive control (MPC and NMPC), the non-linear proportional integral and derivative (NPID) control, the sliding mode control (SMC), as well as the multi-resolution PID (MRPID) control schemes, are evaluated under two different sea conditions, namely, moderate and extreme seas. Matlab/Simulink models of a full-scale ship and its corresponding scaled model are used to benchmark the efficacy of the controllers. An unscented Kalman filter (UKF) is used to estimate vessel motions and to control low frequency (LF) motions while filtering out wave frequency (WF) motions. The tuning of the controllers is also taken into consideration. Of the five controller schemes, the NMPC shows the best ability to deal with extreme disturbances efficiently. Although all of the controllers were able to maintain the ship position under moderate conditions, only the NMPC and the MRPID controllers were able to stabilize the ship under extreme sea states. Findings from this research are expected to help operators of DP systems in choosing the most effective control scheme for different sea conditions. In addition, the results are supportive of further control system development for dynamic positioning and autonomous operations of ships and offshore platforms. |
|---|
| Publication date | 2020-09-30 |
|---|
| Publisher | IEEE |
|---|
| In | |
|---|
| Language | English |
|---|
| Peer reviewed | Yes |
|---|
| Export citation | Export as RIS |
|---|
| Report a correction | Report a correction (opens in a new tab) |
|---|
| Record identifier | db1d8637-c275-46e9-b715-1a72a1dcd1ec |
|---|
| Record created | 2025-06-11 |
|---|
| Record modified | 2025-06-12 |
|---|
