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Volume 19, Issue 38 (4-2023)
Marine Engineering 2023, 19(38): 155-167 |
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hasanvand A, Seif M S. Designing the way point tracking intelligent system for displacement vessels with considering nonlinear dynamics. Marine Engineering 2023; 19 (38) :155-167
URL: http://marine-eng.ir/article-1-1013-en.html
URL: http://marine-eng.ir/article-1-1013-en.html
1- Sharif university of technology
Abstract: (846 Views)
Today, researchers are looking for ways to intelligentize and eliminate human wrong to reduce the amount of errors and costs of sea voyages. The purpose of this study is to design an intelligent system for the displacement vessel model of a tanker in order to track trajectory and appropriate state. Since the dynamics of vessel is nonlinear, in this research, the behavior of the system in nonlinear mode is investigated by considering the controller. PID control method and sliding mode control (SMC) have been used to control actuators, which have the ability to control vessel movements in different directions and modes. To check the performance of the designed controller, various missions such as controlling speed and heading angle, trajectory tracking have been investigated. The obtained results show that each controller has ability of speed and heading angle control with acceptable accuracy and slight difference. In the trajectory tracking mode, if movement speed is not significant, we can expect a proportional performance from the intelligent system. In sliding mode control, which is a non-linear control, it shows better performance with favorable fluctuations in controlling the rudder angle and tracking. However PID, it performs better in controlling propeller rotating, but it performs more unstable in controlling direction.
Keywords: Hydrodynamic modeling, Velocity Control, Trajectory tracking, Linear and nonlinear controller, Intelligence
Type of Study: Research Paper |
Subject:
Ship Hydrodynamic
Received: 2022/11/12 | Accepted: 2023/05/11
Received: 2022/11/12 | Accepted: 2023/05/11
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International Journal of Maritime Technology is licensed under a
Creative Commons Attribution-NonCommercial 4.0 International License.