Original scientific paper
https://doi.org/10.21278/brod74307
Robust optimal control of a nonlinear surface vessel model with parametric uncertainties
Ahmad Irham Jambak
orcid.org/0009-0004-0817-0829
; Department of Mechatronics Engineering, Istanbul Technical University
Ismail Bayezit
orcid.org/0000-0001-9345-5108
; Department of Aeronautical Engineering, Istanbul Technical University
Abstract
This paper presents a fast alternative optimization method for developing a reliable optimal controller that can handle system model parameter uncertainties. The source of uncertainty in this study is identified as hydrodynamic coefficients, which are prone to errors due to the challenges involved in obtaining accurate values. The proposed optimization method utilizes a complex nonlinear ship model provided by Maneuver Modelling Group (MMG) as the reference for the ship motion model. The optimization process is divided into two stages: a blind search followed by bisection optimization, to obtain a robust optimal controller. To demonstrate the effectiveness of the proposed approach, system response analysis and practical tests were performed on Step, M-Turn, and Doublet maneuvers. The results show that the controller parameters obtained from the proposed optimization method are capable of achieving high success rates in controlling a system with uncertain parameters.
Keywords
robust control; optimal control; optimization; parametric uncertainty; autonomous surface vessel, autonomous marine vehicle
Hrčak ID:
305740
URI
Publication date:
1.6.2023.
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