A trajectory control algorithm, termed "Target Path Iteration (TPI) algorithm" is proposed for maneuvering of surface ships and its performance studied. A mathematical model for nonlinear maneuvering of cargo ships has been used in conjunction with the proposed algorithm. The TPI method works with one error measure, namely, the average mean square error, which is minimized to obtain the desired rudder angle. The proposed control scheme has been verified for a variety of straight line and curved trajectories and its performance has been found excellent. © 2014 Elsevier Ltd.

S. K. Bhattacharyya

Department of Ocean Engineering

Deepak Kumar Gupta

Algorithms

Automation

Control

Mathematical models

Ships

Control schemes

Error measures

ITERATION METHOD

maneuvering

Nonlinear

RUDDER ANGLES

SURFACE SHIP

TRAJECTORY CONTROL

Iterative methods

Algorithm

control system

Nonlinearity

numerical model

SHIP HANDLING

Trajectory

Error analysis

SHIP MOTION

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

It currently offers undergraduate, postgraduate and research degrees across 16 disciplines in Engineering, Sciences, Humanities and Management. About 596 faculty belonging to science and engineering departments and centres of the Institute are engaged in teaching, research and industrial consultancy.

IIT Madras

Applied Ocean Research

A procedure to automatically maneuver surface ships on a given target path has been outlined in this paper. The ship maneuvering model is nonlinear. The procedure hinges on a Target Path Iteration (TPI) controller integrated with genetic algorithm (GA). GA is used to obtain the optimum command rudder angle and length of target trajectory in a particular simulation time step with the objective to minimize the mean squared error of the actual path taken by the ship vis-à-vis the target trajectory. The proposed control algorithm has been implemented on a variety of straight line and curved trajectories and the results show that the method used is accurate and robust. © 2018 Elsevier Ltd

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Journal	Data powered by TypesetApplied Ocean Research
Publisher	Data powered by TypesetElsevier Ltd
Open Access	No