Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships
Dynamic positioning (DP) control system is an essential module used in offshore ships for accurate maneuvering and maintaining of ship’s position and heading (fixed location or pre-determined track) by means of thruster forces being generated by controllers. In this paper, an interconnection and dam...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-10-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/10/20/7314 |
| _version_ | 1827703985358766080 |
|---|---|
| author | Mutaz Ryalat Hazem Salim Damiri Hisham ElMoaqet |
| author_facet | Mutaz Ryalat Hazem Salim Damiri Hisham ElMoaqet |
| author_sort | Mutaz Ryalat |
| collection | DOAJ |
| description | Dynamic positioning (DP) control system is an essential module used in offshore ships for accurate maneuvering and maintaining of ship’s position and heading (fixed location or pre-determined track) by means of thruster forces being generated by controllers. In this paper, an interconnection and damping assignment-passivity based control (IDA-PBC) controller is developed for DP of surface ships. The design of the IDA-PBC controller involves a dynamic extension utilizing the coordinate transformation which adds damping to some coordinates to ensure asymptotic stability and adds integral action to enhance the robustness of the system against disturbances. The particle swarm optimization (PSO) technique is one of the the population-based optimization methods that has gained the attention of the control research communities and used to solve various engineering problems. The PSO algorithm is proposed for the optimization of the IDA-PBC controller. Numerical simulations results with comparisons illustrate the effectiveness of the new PSO-tuned dynamic IDA-PBC controller. |
| first_indexed | 2024-03-10T15:30:27Z |
| format | Article |
| id | doaj.art-4e64741d7c3f4a48bf4ca0a6ba376135 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T15:30:27Z |
| publishDate | 2020-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-4e64741d7c3f4a48bf4ca0a6ba3761352023-11-20T17:42:37ZengMDPI AGApplied Sciences2076-34172020-10-011020731410.3390/app10207314Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of ShipsMutaz Ryalat0Hazem Salim Damiri1Hisham ElMoaqet2Department of Mechatronics Engineering, German Jordanian University, Amman 11180, JordanIEEE Member, Piscataway, NJ 08854, USADepartment of Mechatronics Engineering, German Jordanian University, Amman 11180, JordanDynamic positioning (DP) control system is an essential module used in offshore ships for accurate maneuvering and maintaining of ship’s position and heading (fixed location or pre-determined track) by means of thruster forces being generated by controllers. In this paper, an interconnection and damping assignment-passivity based control (IDA-PBC) controller is developed for DP of surface ships. The design of the IDA-PBC controller involves a dynamic extension utilizing the coordinate transformation which adds damping to some coordinates to ensure asymptotic stability and adds integral action to enhance the robustness of the system against disturbances. The particle swarm optimization (PSO) technique is one of the the population-based optimization methods that has gained the attention of the control research communities and used to solve various engineering problems. The PSO algorithm is proposed for the optimization of the IDA-PBC controller. Numerical simulations results with comparisons illustrate the effectiveness of the new PSO-tuned dynamic IDA-PBC controller.https://www.mdpi.com/2076-3417/10/20/7314dynamic positioninghamiltonian systemsparticle swarm optimizationpassivity-based control |
| spellingShingle | Mutaz Ryalat Hazem Salim Damiri Hisham ElMoaqet Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships Applied Sciences dynamic positioning hamiltonian systems particle swarm optimization passivity-based control |
| title | Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships |
| title_full | Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships |
| title_fullStr | Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships |
| title_full_unstemmed | Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships |
| title_short | Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships |
| title_sort | particle swarm optimization of a passivity based controller for dynamic positioning of ships |
| topic | dynamic positioning hamiltonian systems particle swarm optimization passivity-based control |
| url | https://www.mdpi.com/2076-3417/10/20/7314 |
| work_keys_str_mv | AT mutazryalat particleswarmoptimizationofapassivitybasedcontrollerfordynamicpositioningofships AT hazemsalimdamiri particleswarmoptimizationofapassivitybasedcontrollerfordynamicpositioningofships AT hishamelmoaqet particleswarmoptimizationofapassivitybasedcontrollerfordynamicpositioningofships |