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Publications
Meng, Y., Zhang, XK., Zhang, XF., Duan, Y. and Guedes Soares, C. (2025), Nonlinear identification of surface ship manoeuvring motion model and its control application, Ocean Engineering, Vol. 321, 120432.
This paper develops and investigates a square root unscented Kalman filter (SRUKF) for motion state prediction and parameter estimation of surface ship manoeuvring motion models. Based on the identified model and adaptive sliding mode control, trajectory tracking control of the surface ship is conducted, considering manoeuvrability. Considering accuracy, complexity, and control applications, this paper establishes a 3-degree-of-freedom MMG motion model. Given that parameters are the core of the motion model and their computation is complex, the objective of SRUKF is to utilize collected data to determine the motion model parameters in real-time. The stability of the proposed algorithm is explored to demonstrate its applicability. Furthermore, it is evaluated using free-running model test data collected from the Maritime Research Institute Netherlands. Real-time parameter estimation is crucial for subsequent trajectory tracking control. The proposed control method can ensure a given tracking accuracy while satisfying practical applications. Online parameter identification research can also provide motion models for maritime simulators and be used to assess ship manoeuvring performance.
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