Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control
The motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at the sam...
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doaj-3f7100a42c424ecfb494686f6351e2452021-09-26T00:30:44ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-09-0191024102410.3390/jmse9091024Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization ControlRu-Yi Ren0Zao-Jian Zou1Jian-Qin Wang2School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaThe motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at the same time. The control objectives are to let the ship to track a predefined curve path under environmental disturbances, and to reduce the roll motion at the same time. A singular perturbation method is used to decouple the whole system into two subsystems of different time scales: the slow path-following subsystem and the fast roll reduction subsystem. The coupling effect of the two subsystems is also considered in this framework of analysis. RRS control is only possible when there is the so-called bandwidth separation characteristic in the ship motion system, which requires a large bandwidth separation gap between the two subsystems. To avoid the slow subsystem being affected by the wave disturbances of high frequency and large system uncertainties, the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msub><mi>L</mi><mn>1</mn></msub></mrow></semantics></math></inline-formula> adaptive control is introduced in the slow subsystem, while a Proportion-Differentiation (PD) control law is adopted in the fast roll reduction subsystem. Simulation results show the effectiveness and robustness of the proposed control strategy.https://www.mdpi.com/2077-1312/9/9/1024singular perturbation<i>L</i><sub>1</sub> adaptive controlrudder roll stabilizationpath following |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ru-Yi Ren Zao-Jian Zou Jian-Qin Wang |
spellingShingle |
Ru-Yi Ren Zao-Jian Zou Jian-Qin Wang Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control Journal of Marine Science and Engineering singular perturbation <i>L</i><sub>1</sub> adaptive control rudder roll stabilization path following |
author_facet |
Ru-Yi Ren Zao-Jian Zou Jian-Qin Wang |
author_sort |
Ru-Yi Ren |
title |
Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control |
title_short |
Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control |
title_full |
Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control |
title_fullStr |
Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control |
title_full_unstemmed |
Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control |
title_sort |
time-scale decomposition techniques used in the ship path-following problem with rudder roll stabilization control |
publisher |
MDPI AG |
series |
Journal of Marine Science and Engineering |
issn |
2077-1312 |
publishDate |
2021-09-01 |
description |
The motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at the same time. The control objectives are to let the ship to track a predefined curve path under environmental disturbances, and to reduce the roll motion at the same time. A singular perturbation method is used to decouple the whole system into two subsystems of different time scales: the slow path-following subsystem and the fast roll reduction subsystem. The coupling effect of the two subsystems is also considered in this framework of analysis. RRS control is only possible when there is the so-called bandwidth separation characteristic in the ship motion system, which requires a large bandwidth separation gap between the two subsystems. To avoid the slow subsystem being affected by the wave disturbances of high frequency and large system uncertainties, the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msub><mi>L</mi><mn>1</mn></msub></mrow></semantics></math></inline-formula> adaptive control is introduced in the slow subsystem, while a Proportion-Differentiation (PD) control law is adopted in the fast roll reduction subsystem. Simulation results show the effectiveness and robustness of the proposed control strategy. |
topic |
singular perturbation <i>L</i><sub>1</sub> adaptive control rudder roll stabilization path following |
url |
https://www.mdpi.com/2077-1312/9/9/1024 |
work_keys_str_mv |
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