Ship Motion Control System for Replenishment Operation

Abstract:

Underway Replenishment is a procedure whose importance is rising in shipping. It is applied both to the naval and civil vessels. That is the reason why research in this area was undertaken. In this paper idea of the ship motion control system for replenishment operations was presented. The outline of the system is described in a detail way. This system incorporates Model Predictive Controller as a main part of the proposed algorithm. The other important part of the control system is a reference trajectory for the approaching ship generation. Conducted computer simulations prove that there is a possibility to synthesize MPC controller to maintain the pair of ships parallel motion during the UNREP operation.

• Periodical: Applied Mechanics and Materials (Volume 817)
• Pages: 214-222
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.817.214
• Online since: January 2016
• Authors: Witold Gierusz, Anna Miller*
• Keywords: Model Predictive Control, MPC, Reference Trajectory, Underway Replenishment, UNREP

References

[1] J. van der Geer, J.A.J. Hanraads, R.A. Lupton, The art of writing a scientific article, J. Sci. Commun. 163 (2000) 51-59. Reference to a book.

[1] E. Shimizu, E. Pedersen, Y. Takano, Field observation on actual lightering operations, Oceans 2010 IEEE Conference – Sydney, May 2010 1–4.

DOI: 10.1109/oceanssyd.2010.5603641

[2] Naval Warfare Publication, Underway Replenishment, Department Of The Navy Office Of The Chief Of Naval Operations, Norfolk (2001).

[3] E. Pedersen, E. Shimizu, T. E. Berg, On the Development of Guidance System Design for Ships Operating in Close Proximity, 7052 (2008) 966–971.

DOI: 10.1109/plans.2008.4570039

[4] D. Husjord, E. Pedersen, On Guidance and Decision-Support Displays in Ship-to-Ship Lightering Operations, Systems Man and Cybernetics Society, IEEE, eNewsletter, 31 (2010).

[5] www. sptmts. com – SPT The Marine Transfer Solution.

[6] A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, C. J. Taylor, A vision-based formation control framework, IEEE Transactions on Robotics and Automation 18(5) (2002) 813–825.

DOI: 10.1109/tra.2002.803463

[7] N. Cowant, Vision-based Follow-the-Leader, Proceedings of the 2003 IEEURSJ Intl. Conference on Intelligent Robots and Systems, October 2003, (2003) 1796–1801.

[8] A. K. Das, R. Fierro, V. Kumar, B. Southall, J. Spletzer, C. J. Taylor, Real-time vision-based control of a nonholonomic mobile robot, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164), 2 (2001).

DOI: 10.1109/robot.2001.932858

[9] A. Waszkiel, Measuring system for parallel moving ships, Polish Maritime Research S1(74) vol. 19 (2012) 66-72.

DOI: 10.2478/v10012-012-0025-3

[10] I. F. Ihle, J., Jouffroy, T. I. Fossen, Formation Control of Marine Surface Craft using Lagrange Multipliers, Proceedings of the 44th IEEE Conference on Decision and Control, (2005) 752–758.

DOI: 10.1109/cdc.2005.1582247

[11] E. Kyrkjebø, E. Panteley, A. Chaillet, K. Y. Pettersen, A Virtual Vehicle Approach to Underway Replenishment, in Group Coordination and Cooperative Control, Springer, (2006) 171–189.

DOI: 10.1007/11505532_10

[12] P. K. C. Wang, Navigation strategies for multiple autonomous robots moving in formation, Journal of Robotic Systems 8(2) (1991) 177–195.

DOI: 10.1002/rob.4620080204

[13] Y. Chen, S. Member, Z. Wang, Formation Control : A Review and A New Consideration, 005 IEEE/RSJ International Conference on Intelligent Robots and Systems 435 (2005) 3664–3669.

DOI: 10.1109/iros.2005.1545539

[14] S. H. Fu, C. C. Cheng, Nonlinear Adaptive Tracking Control for Underway Replenishment Process Modeling of Two Vessels Tracking with Exogenous Disturbances, Proceedings of the 2004 IEEE International Conference on Networking, Sensing and Control 1 (2004).

DOI: 10.1109/icnsc.2004.1297033

[15] S. H. Fu, W. M. Haddad, Nonlinear Adaptive Tracking Of Surface Vessels With Exogenous Disturbances, Asian Journal of Control 5(1) (2008) 88–103.

DOI: 10.1111/j.1934-6093.2003.tb00100.x

[16] I. F. Ihle, R. Skjetne, T. I. Fossen, Nonlinear Formation Control of Marine Craft with Experimental Results, 43rd IEEE Conference on Decision and Control Proceedings (2004) 680-685.

DOI: 10.1109/cdc.2004.1428723

[17] A. Miller, Ships parallel motion - physical phenomena and their influence on the steering process, mutual position determination methods (pol. Ruch równoległy dwóch jednostek - zjawiska fizyczne i ich wpływ na proces sterowania, sposoby określania wzajemnego położenia statków), Zeszyty Naukowe Akadmii Morskiej w Gdyni 78 (2013).

[18] W. Gierusz, Simulation model of the shiphandling training boat Blue Lady, Int. Conf. Control Application in Marine Systems, Glasgow, Scotland, July (2001).

DOI: 10.1016/s1474-6670(17)35092-9

[19] Miller A., Model Predictive Control of the ship's motion in presence of wind disturbances, Zeszyty Naukowe, Akademia Morska w Szczecinie, 39(111) (2014) 107-115.