Optimal Control of a Ship for a Course-Changing Maneuver

C. Y. Tzeng
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C. Y. Tzeng: National Taiwan Ocean University

Journal of Optimization Theory and Applications, 1998, vol. 97, issue 2, No 3, 297 pages

Abstract: Abstract The steering control of a ship during a course-changing maneuver is formulated as a Bolza optimal control problem, which is solved via the sequential gradient-restoration algorithm (SGRA). Nonlinear differential equations describing the yaw dynamics of a steering ship are employed as the differential constraints, and both amplitude and slew rate limits on the rudder are imposed. Two performance indices are minimized: one measures the time integral of the squared course deviation between the actual ship course and a target course; the other measures the time integral of the absolute course deviation. Numerical results indicate that a smooth transition from the initial set course to the target course is achievable, with a trade-off between the speed of response and the amount of course angle overshoot.

Keywords: Nonlinear ship steering dynamics; optimal control; saturation; slew rate limitation; sequential gradient-restoration algorithm (search for similar items in EconPapers)
Date: 1998
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Citations: View citations in EconPapers (4)

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DOI: 10.1023/A:1022674516570

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