Optimal Path Following Controller Design Based on Linear Quadratic Regulator for Underactuated Ships in Varying Wave and Wind Conditions  

基于线性二次调节器的变波浪和风力条件下的不完全驱动船舶最优路径跟随控制器设计

作　　者：Abbas Ghassemzadeh Haitong Xu C.Guedes Soares 

机构地区：[1]Centre for Marine Technology and Ocean Engineering(CENTEC),Instituto Superior Técnico,Universidade de Lisboa,Lisboa,Portugal

出　　处：《哈尔滨工程大学学报(英文版)》2024年第4期927-946,共20页Journal of Marine Science and Application

基　　金：financially supported by the Portuguese Foundation for Science and Technology(Fundação para a Ciência e Tecnologia-FCT);the Strategic Research Plan of the Centre for Marine Technology and Ocean Engineering(Grant No.UIDB/UIDP/00134/2020);funded the first author for his doctoral fellowship(Grant No.2023.03496.BD).

摘　　要：This study presents an optimisation-based approach for determining controller gains in ship path-following under varying sea states,wave,and wind directions.The dynamic Line of Sight approach is used to regulate the rudder angle and guide the Esso Osaka ship along the desired path.Gains are optimised using a genetic algorithm and a comprehensive cost function.The analysis covers a range of wave attack directions and sea states to evaluate the controller performance.Results demonstrate effective convergence to the desired path,although a steady-state error persists.Heading and rudder angle performance analyses show successful convergence and dynamic adjustments of the rudder angle to compensate for deviations.The findings underscore the influence of wave and wind conditions on ship performance and highlight the need for precise gain tuning.This research contributes insights into optimising and evaluating path-following controllers for ship navigation.

关 键 词：Ship manoeuvring Optimal control Wave and wind forces Genetic algorithm LQR control 

分 类 号：O17[理学—数学]