Maritime Autonomous Surface Ships in Use with LMI and Overriding Trajectory Controller

Abstract

Concepts in maritime issues such as Maritime Autonomous Surface Ships (MASS) have been known for several years. At present, it is difficult to define clear rules for the cooperation of multiple systems for autonomous control, i.e., unmanned operation, which is written in the MASS requirements for the various degrees of control (four degrees). The paper proposes a multidimensional control of a ship on a certain determined trajectory, where a model of a training ship sails autonomously in restricted waters in a port. The control algorithm is based on the synthesis of a Linear Matrix Inequalities (LMI) controller and an overriding trajectory controller. The automation is divided into two parts. The master trajectory controller converts the ship’s position and course into small velocities, which, with the help of the LMI controller through an allocation system, control the operation of the ship’s propellers. The setpoints are specific twelve trajectory points given in the form of x, y coordinates and the ship’s course. The tests were carried out under real conditions and showed a silhouette of the ship performing the maneuver and a reading of the individual speeds, wind parameters and GPS mode. The solution presented is used to address MASS 3 level control.