Synchronization Control of Dynamic Positioning Ships Using Model Predictive Control
Underway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only the position and orientation but also the velocities are required to be controlled for ensuring the synchronization; additionally, t...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-11-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/9/11/1239 |
| _version_ | 1797509801131900928 |
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| author | Cheng Liu Ting Sun Qizhi Hu |
| author_facet | Cheng Liu Ting Sun Qizhi Hu |
| author_sort | Cheng Liu |
| collection | DOAJ |
| description | Underway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only the position and orientation but also the velocities are required to be controlled for ensuring the synchronization; additionally, the control inputs are constrained. On this basis, in this paper, a novel synchronization controller on account of model predictive control (MPC) for dynamic positioning (DP) ships is devised to achieve underway replenishment. Firstly, a novel synchronization controller based on MPC is devised to ensure the synchronization of not only the position and orientation but the velocities; furthermore, it is a beneficial solution for its advantages in handling the control input constraints ignored in most studies of underway replenishment. Secondly, a neurodynamic optimization system is applied to the implementation of MPC, which can improve the computational efficiency and shorten the simulation time. Thirdly, stability, frequently neglected by traditional MPC, is ensured by the means of adding a terminal cost function exported from the Lyapunov equation into the objective function. Finally, the effectiveness and advantages of the proposed control design are illustrated by extensive simulations. |
| first_indexed | 2024-03-10T05:22:53Z |
| format | Article |
| id | doaj.art-b1b96986bf964cdaae64b3ac075b825b |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T05:22:53Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-b1b96986bf964cdaae64b3ac075b825b2023-11-22T23:53:48ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-11-01911123910.3390/jmse9111239Synchronization Control of Dynamic Positioning Ships Using Model Predictive ControlCheng Liu0Ting Sun1Qizhi Hu2College of Navigation, Dalian Maritime University, Dalian 116026, ChinaCollege of Navigation, Dalian Maritime University, Dalian 116026, ChinaCollege of Navigation, Dalian Maritime University, Dalian 116026, ChinaUnderway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only the position and orientation but also the velocities are required to be controlled for ensuring the synchronization; additionally, the control inputs are constrained. On this basis, in this paper, a novel synchronization controller on account of model predictive control (MPC) for dynamic positioning (DP) ships is devised to achieve underway replenishment. Firstly, a novel synchronization controller based on MPC is devised to ensure the synchronization of not only the position and orientation but the velocities; furthermore, it is a beneficial solution for its advantages in handling the control input constraints ignored in most studies of underway replenishment. Secondly, a neurodynamic optimization system is applied to the implementation of MPC, which can improve the computational efficiency and shorten the simulation time. Thirdly, stability, frequently neglected by traditional MPC, is ensured by the means of adding a terminal cost function exported from the Lyapunov equation into the objective function. Finally, the effectiveness and advantages of the proposed control design are illustrated by extensive simulations.https://www.mdpi.com/2077-1312/9/11/1239dynamic positioning (DP)synchronizationmodel predictive control (MPC)neurodynamic optimization |
| spellingShingle | Cheng Liu Ting Sun Qizhi Hu Synchronization Control of Dynamic Positioning Ships Using Model Predictive Control Journal of Marine Science and Engineering dynamic positioning (DP) synchronization model predictive control (MPC) neurodynamic optimization |
| title | Synchronization Control of Dynamic Positioning Ships Using Model Predictive Control |
| title_full | Synchronization Control of Dynamic Positioning Ships Using Model Predictive Control |
| title_fullStr | Synchronization Control of Dynamic Positioning Ships Using Model Predictive Control |
| title_full_unstemmed | Synchronization Control of Dynamic Positioning Ships Using Model Predictive Control |
| title_short | Synchronization Control of Dynamic Positioning Ships Using Model Predictive Control |
| title_sort | synchronization control of dynamic positioning ships using model predictive control |
| topic | dynamic positioning (DP) synchronization model predictive control (MPC) neurodynamic optimization |
| url | https://www.mdpi.com/2077-1312/9/11/1239 |
| work_keys_str_mv | AT chengliu synchronizationcontrolofdynamicpositioningshipsusingmodelpredictivecontrol AT tingsun synchronizationcontrolofdynamicpositioningshipsusingmodelpredictivecontrol AT qizhihu synchronizationcontrolofdynamicpositioningshipsusingmodelpredictivecontrol |