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Publications
Ghassemzadeh, A., Xu, H.T. and Guedes Soares, C. (2024), Optimal path following controller design based on Linear Quadratic Regulator for underactuated ships in varying wave and wind conditions, Journal of Marine Science and Application, Vol. 23, pp. 927-946.
This study presents an optimization-based approach for determining controller gains in ship path-following under varying sea states, wave, and wind directions. The dynamic Line of Sight approach is used to regulate the rudder angle and guide the Esso Osaka ship along the desired path. Gains are optimized using a genetic algorithm and a comprehensive cost function. The analysis covers a range of wave attack directions and sea states to evaluate the controller performance. Results demonstrate effective convergence to the desired path, although a steady-state error persists. Heading and rudder angle performance analysis show successful convergence and dynamic adjustments of the rudder angle to compensate for deviations. The findings underscore the influence of wave and wind conditions on ship performance and highlight the need for precise gain tuning. This research contributes insights into optimizing and evaluating path-following controllers for ship navigation.
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