Optimal control theory applied to ship maneuvering in restricted waters
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005. === Includes bibliographical references (leaves 70-71). === Ship drivers have long understood that powerful interaction forces...
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ndltd-MIT-oai-dspace.mit.edu-1721.1-335912019-05-02T16:15:52Z Optimal control theory applied to ship maneuvering in restricted waters Thomas, Brian S., S.M. Massachusetts Institute of Technology Paul D. Sclavounos. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Ocean Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Ocean Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005. Includes bibliographical references (leaves 70-71). Ship drivers have long understood that powerful interaction forces exist when ships operate in close proximity to rigid boundaries or other vessels. Controlling the effects of these forces has been traditionally handled by experienced helmsmen. The purpose of this research is to apply modern optimal control theory to these maneuvering scenarios in order to show that helmsman may some day be replaced by modern controllers. The maneuvering equations of motion are cast in a linear state space framework, permitting the design of a linear quadratic (LQ) controller. In addition, the hydrodynamic effects are modeled using potential flow theory in order to simulate the interaction forces and test the efficacy of the controller. This research demonstrates that the linear quadratic regulator effectively controls ship motions due to the presence of a boundary or other vessel over a broad range of speeds and separation distances. Furthermore, the method proposed provides stable control in the presence of additional. stochastic disturbances. by Brian S. Thomas. S.M. 2006-07-31T15:15:17Z 2006-07-31T15:15:17Z 2005 2005 Thesis http://hdl.handle.net/1721.1/33591 63762304 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 71 leaves 3062158 bytes 3065053 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
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Ocean Engineering. Mechanical Engineering. Thomas, Brian S., S.M. Massachusetts Institute of Technology Optimal control theory applied to ship maneuvering in restricted waters |
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005. === Includes bibliographical references (leaves 70-71). === Ship drivers have long understood that powerful interaction forces exist when ships operate in close proximity to rigid boundaries or other vessels. Controlling the effects of these forces has been traditionally handled by experienced helmsmen. The purpose of this research is to apply modern optimal control theory to these maneuvering scenarios in order to show that helmsman may some day be replaced by modern controllers. The maneuvering equations of motion are cast in a linear state space framework, permitting the design of a linear quadratic (LQ) controller. In addition, the hydrodynamic effects are modeled using potential flow theory in order to simulate the interaction forces and test the efficacy of the controller. This research demonstrates that the linear quadratic regulator effectively controls ship motions due to the presence of a boundary or other vessel over a broad range of speeds and separation distances. Furthermore, the method proposed provides stable control in the presence of additional. stochastic disturbances. === by Brian S. Thomas. === S.M. |
author2 |
Paul D. Sclavounos. |
author_facet |
Paul D. Sclavounos. Thomas, Brian S., S.M. Massachusetts Institute of Technology |
author |
Thomas, Brian S., S.M. Massachusetts Institute of Technology |
author_sort |
Thomas, Brian S., S.M. Massachusetts Institute of Technology |
title |
Optimal control theory applied to ship maneuvering in restricted waters |
title_short |
Optimal control theory applied to ship maneuvering in restricted waters |
title_full |
Optimal control theory applied to ship maneuvering in restricted waters |
title_fullStr |
Optimal control theory applied to ship maneuvering in restricted waters |
title_full_unstemmed |
Optimal control theory applied to ship maneuvering in restricted waters |
title_sort |
optimal control theory applied to ship maneuvering in restricted waters |
publisher |
Massachusetts Institute of Technology |
publishDate |
2006 |
url |
http://hdl.handle.net/1721.1/33591 |
work_keys_str_mv |
AT thomasbrianssmmassachusettsinstituteoftechnology optimalcontroltheoryappliedtoshipmaneuveringinrestrictedwaters |
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1719037330641125376 |