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20 pages, 6408 KiB

Open AccessArticle

Constrained Nonlinear MPC with Rudder-Roll Stabilization for Integrated Path Following and Collision Avoidance in Underactuated Surface Vessels

by Wei Li and Hanyun Zhou

J. Mar. Sci. Eng. 2025, 13(3), 468; https://doi.org/10.3390/jmse13030468 - 27 Feb 2025

Viewed by 530

Abstract

This study develops a constrained nonlinear model predictive control (NMPC) framework, integrating rudder roll stabilization to address coupled path-following and collision avoidance challenges for underactuated surface vessels (USVs). The compact state-space model integrates both navigational states and roll dynamics through augmentation, facilitating real-time optimization of the trade-off between safety margins for roll movements and path-following accuracy. Given that excessive roll movement during obstacle avoidance in the USV path following can readily lead to USV capsizing, the NMPC approach is employed to explicitly address multiple constraints, including obstacle avoidance constraint, roll movement safety, and control input rudder angle constraints, thereby achieving precise path following for the rudder-roll reduction control system. Different from traditional methods that adhere to a pre-planned obstacle avoidance path, the proposed NMPC approach formulates obstacle avoidance as a nonlinear inequality constraint, significantly enhancing the maneuverability of the USV during obstacle avoidance. To validate the effectiveness of the proposed algorithm, the stability and optimality of the rudder-roll reduction control system are analyzed. The advantages of the proposed algorithm are ultimately demonstrated through both theoretical analysis and simulation results. Full article

(This article belongs to the Section Ocean Engineering)

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21 pages, 3548 KiB

Open AccessArticle

Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control

by Ru-Yi Ren, Zao-Jian Zou and Jian-Qin Wang

J. Mar. Sci. Eng. 2021, 9(9), 1024; https://doi.org/10.3390/jmse9091024 - 18 Sep 2021

Cited by 5 | Viewed by 2460

Abstract

The motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at the same time. The control objectives are to let the ship to track a predefined curve path under environmental disturbances, and to reduce the roll motion at the same time. A singular perturbation method is used to decouple the whole system into two subsystems of different time scales: the slow path-following subsystem and the fast roll reduction subsystem. The coupling effect of the two subsystems is also considered in this framework of analysis. RRS control is only possible when there is the so-called bandwidth separation characteristic in the ship motion system, which requires a large bandwidth separation gap between the two subsystems. To avoid the slow subsystem being affected by the wave disturbances of high frequency and large system uncertainties, the

L_{1}

adaptive control is introduced in the slow subsystem, while a Proportion-Differentiation (PD) control law is adopted in the fast roll reduction subsystem. Simulation results show the effectiveness and robustness of the proposed control strategy. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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19 pages, 2851 KiB

Open AccessArticle

Optimal Robust Control of Path Following and Rudder Roll Reduction for a Container Ship in Heavy Waves

by Sisi Wang, Lijun Wang, Zixuan Qiao and Fengshan Li

Appl. Sci. 2018, 8(9), 1631; https://doi.org/10.3390/app8091631 - 12 Sep 2018

Cited by 15 | Viewed by 4831

Abstract

This paper presents an optimal approach to the multi-objective synthesis of path following and rudder roll reduction for a container ship in heavy waves. An improved line of sight principle with course-keeping in track-belt is proposed to guide the ship in accordance with marine practice. Concise robust controllers for the course and roll motion based on Backstepping and closed-loop gain shaping are developed. The control parameters have obvious physical significance. The determination method is given and much effort is made to guarantee the uniform asymptotic stability of the closed-loop systems by Lyapunov synthesis. Furthermore, the multi-objective optimization method a fast and elitist multi-objective genetic algorithm (NSGA-II) is used to solve the restrictions caused by the model perturbation, external disturbance and performance trade-off. Contrasting with the existing literature, the research strategy and control performance are more in line with marine engineering practice. Simulation results illustrate the performances and effectiveness of the proposed system. Full article

(This article belongs to the Special Issue Applied Sciences Based on and Related to Computer and Control)

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