Adaptive generalized predictive control for dynamic positioning system of ships with model unknown parameters

Author:

Hu Xin12ORCID,Sun Zhongyu34,Wang Rui4,Feng Shuwen1

Affiliation:

1. School of Mathematics and Statistics Science, Ludong University, Yantai, China

2. Hubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, Wuhan, China

3. Ulshan Ship and Ocean College, Ludong University, Yantai, China

4. Marine Aerospace Equipment Technological Innovation Center, Ludong University, Yantai, China

Abstract

This paper proposes an adaptive generalized predictive control for dynamic positioning of ships with unknown model parameters and unknown time-varying environmental disturbances. The controlled auto-regressive integrated moving average (CARIMA) model is employed to describe the movements of ships with model parameter and disturbance uncertainties. The recursive least square method with forgetting factor is utilized to design adaptive laws to estimate the CARIMA model parameters online. Considering both the positioning accuracy and the change intensity of control increments, a cost function is constructed. The optimal control increments that minimize the cost function are obtained by using Lagrange multiplier method. Then, the adaptive control law is designed to maintain ship’s position and heading at desired values. Finally, simulation studies in different cases are carried out and simulation results demonstrate the effectiveness of the proposed control scheme.

Funder

Open Project Program of Shandong Marine Aerospace Equipment Technological Innovation Center, Ludong University

National Natural Science Foundation of China

Outstanding Youth Innovation Team Project of Shandong Higher Education Institution

Fund of Hubei Key Laboratory of Inland Shipping Technology

National Natural Science Foundation of China-Shandong Joint Fund

Shandong Major Innovation Project

Shandong Key development program academician team support project

Yantai Science and Technology Plan Project

Yantai New and Old Kinetic Energy Conversion Research Institute Scientific Research Project

Publisher

SAGE Publications

Subject

Mechanical Engineering,Ocean Engineering

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