0
Research Papers: Offshore Technology

System Identification of Nonlinear Vessel Steering

[+] Author and Article Information
Lokukaluge P. Perera

Centre for Marine Technology
and Engineering (CENTEC),
Instituto Superior Técnico,
Universidade de Lisboa,
Av. Rovisco Pais,
Lisboa 1049-001, Portugal
Norwegian Marine Technology Research Institute (MARINTEK),
Trondheim NO-7450, Norway

P. Oliveira

IDMEC,
Instituto Superior Técnico,
Universidade de Lisboa,
Av. Rovisco Pais,
Lisboa 1049-001, Portugal

C. Guedes Soares

Centre for Marine Technology
and Engineering (CENTEC),
Instituto Superior Técnico,
Universidade de Lisboa,
Av. Rovisco Pais,
Lisboa 1049-001, Portugal
e-mail: c.guedes.soares@centec.tecnico.ulisboa.pt

1Corresponding author.

Contributed by the Ocean, Offshore, and Arctic Engineering Division of ASME for publication in the JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING. Manuscript received June 5, 2012; final manuscript received February 12, 2015; published online March 11, 2015. Editor: Solomon Yim.

J. Offshore Mech. Arct. Eng 137(3), 031302 (Jun 01, 2015) (7 pages) Paper No: OMAE-12-1058; doi: 10.1115/1.4029826 History: Received June 05, 2012; Revised February 12, 2015; Online March 11, 2015

In this paper, the stochastic parameters describing a nonlinear ocean vessel steering model are identified, resorting to an extended Kalman filter (EKF). The proposed method is applied to a second-order modified Nomoto model for vessel steering and that is derived from first physics principles. Furthermore, the results obtained resorting to a realistic numerical simulator of nonlinear vessel steering are also illustrated in this study.

FIGURES IN THIS ARTICLE
<>
Copyright © 2015 by ASME
Topics: Vessels , Oceans , Algorithms
Your Session has timed out. Please sign back in to continue.

References

Bowditch, N., and 1995, “The American Practical Navigator,” An Epitome of Navigation, Vol. 9, 2nd ed., N.Bowditch, ed., National Imagery and Mapping Agency, Bethesda, MD.
Astrom, K. J., and Kalstrom, C. G., 1976, “Identification of Ship Steering Dynamics,” Automatica, 12(1), pp. 9–12. [CrossRef]
Ma, F. C., and Tong, S. H., 2003, “Real-Time Parameters Identification of Ship Dynamic Using the Extended Kalman Filter and the Second Order Filter,” 2003 IEEE Conference on Control Applications, Vol. 2, pp. 1245–1250.
Casado, M. H., Ferreiro, R., and Velasco, F. J., 2007, “Identification of Nonlinear Ship Model Parameters Based on the Turning Circle Test,” J. Ship Res., 51(2), pp. 174–181.
Sheng, L., Jia, S., Bing, L., and Gao-Yun, L., 2008, “Identification of Ship Steering Dynamics Based on ACA-SVR,” 2008 IEEE International Conference on Mechatronics and Automation, pp. 514–519.
Sutulo, S., Moreira, L., and Guedes Soares, C., 2002, “Mathematical Models of Ship Path Prediction in Manoeuvring Simulation Systems,” Ocean Eng., 29(1), pp. 1–19. [CrossRef]
Skjetne, R., Smogeli, O. N., and Fossen, T. I., 2004, “A Nonlinear Ship Manoeuvering Model: Identification and Adaptive Control With Experiments for a Model Ship,” Model., Identif. Control, 25(1), pp. 3–27. [CrossRef]
Sutulo, S., and Guedes Soares, C., 2014, “An Algorithm for Offline Identification of Ship Manoeuvring Mathematical Models After Free-Running Tests,” Ocean Eng., 79, pp. 10–25. [CrossRef]
Nomoto, K., Taguchi, T., Honda, K., and Hirano, S., 1957, “On the Steering Qualities of Ships,” Int. Shipbuilding Prog., 4, pp. 354–370.
Tzeng, C., and Chen, J., 1999, “Fundamental Properties of Linear Ship Steering Dynamic Models,” J. Mar. Sci. Technol., 7(2), pp. 79–88.
Journee, J. M. J., 1970, “A Simple Method for Determining the Manoeuvring Indices k and t From Zigzag Trial Data,” Report No. 0267.
Yoon, H. K., and Rhee, K. P., 2003, “Identification of Hydrodynamic Coefficients in Ship Maneuvering Equations of Motion by Estimation-Before-Modeling Technique,” Ocean Eng., 30(18), pp. 2379–2404. [CrossRef]
Sutulo, S., and Guedes Soares, C., 2004, “Synthesis of Experimental Designs of Manoeuvring Captive-Model Tests With Large Number of Factors,” J. Mar. Sci. Technol., 9(1), pp. 32–42. [CrossRef]
Ferrari, V., Perera, L. P., Santos, F. P., Hinostroza, M. A., Sutulo, S., and Guedes Soares, C., 2014, “Initial Experimental Tests of a Research-Oriented Self-Running Model,” Maritime Engineering and Technology, C.Guedes Soares, and TAR Santos, eds., Taylor & Francis Group, London, UK, pp. 913–918. [CrossRef]
Sutulo, S., and Guedes Soares, C., 2002, “An Algorithm for Optimized Design of Manoeuvring Experiments,” J. Ship Res., 46(3), pp. 214–227.
Sutulo, S., and Guedes Soares, C., 2006, “Development of a Multifactor Regression Model of Ship Maneuvering Forces Based on Optimized Captive-Model Tests,” J. Ship Res., 50(4), pp. 311–333.
The Manoeuvring Committee, 2005, “Final Report and Recommendations to the 24th ITTC,” Vol. 1, UK, pp. 137–198.
Sutulo, S., and Guedes Soares, C., 2011, “Mathematical Models for Simulation of Manoeuvring Performance of Ships,” Marine Technology and Engineering, G.Soares, C.Garbatov, Y.Fonseca, and A. P.Teixeira, eds., Taylor & Francis Group, London, pp. 661–698.
Abkowitz, M. A., 1980, “Measurement of Hydrodynamic Characteristics From Ship Maneuvering Trials by System Identification,” SNAME Trans., 88, pp. 283–318.
Guedes Soares, C., Sutulo, S., Francisco, R. A., Santos, F. M., and Moreira, L., 1999, “Full-Scale Measurements of Manoeuvring Capabilities of a Catamaran,” International Conference on Hydrodynamics of High Speed Craft, London, pp. 1–12.
Moreira, L., and Guedes Soares, C., 2003, “Dynamic Model of Maneuvrability Using Recursive Neural Networks,” Ocean Eng., 30(13), pp. 1669–1697. [CrossRef]
Chiu, F. C., Chang, T. L., Go, J., Chou, S. K., and Chen, W. C., 2004, “A Recursive Neural Networks Model for Ship Maneuverability Prediction,” MTTS/IEEE TECHNO-OCEAN'04, 3, pp. 1211–1218. [CrossRef]
Rajesh, G., and Bhattacharyya, S. K., 2008, “System Identification for Nonlinear Maneuvering of Large Tankers Using Artificial Neural Network,” Appl. Ocean Res., 30(4), pp. 256–263. [CrossRef]
Moreira, L., Fossen, T. I., and Guedes Soares, C., 2007, “Path Following Control System for a Tanker Ship Model,” Ocean Eng., 34(14–15), pp. 2074–2085. [CrossRef]
Perera, L. P., Carvalho, J. P., and Guedes Soares, C., 2011, “Fuzzy-Logic Based Decision Making System for Collision Avoidance of Ocean Navigation Under Critical Collision Conditions,” J. Mar. Sci. Technol., 16(1), pp. 84–99. [CrossRef]
Perera, L. P., Carvalho, J. P., and Guedes Soares, C., 2012, “Intelligent Ocean Navigation & Fuzzy-Bayesian Decision-Action Formulation,” IEEE J. Oceanic Eng., 37(2), pp. 204–219. [CrossRef]
Perera, L. P., Ferrari, V., Santos, F. P., Hinostroza, M. A., and Guedes Soares, C., 2014, “Experimental Evaluations on Ship Autonomous Navigation & Collision Avoidance by Intelligent Guidance,” IEEE J. Oceanic Eng., PP(9), pp. 1–14. [CrossRef]
Davidson, K. S. M., and Schiff, L. I., 1946, “Turning and Course Keeping Qualities,” SNAME, 55.
Amerongen, J. V., and Cate, A. J. U. T., 1975, “Model Reference Adaptive Autopilots for Ship,” Automatica, 11(5), pp. 441–449. [CrossRef]
Urgarala, S., Dolence, E., and Li, K., 2007, “Constrained Extended Kalman Filter for Nonlinear State Estimation,” 8th International IFAC Symposium on Dynamic and Control of Process Systems, Cancun, Mexico, pp. 63–68.
Gelb, A., Kasper, J. F., Nash, R. A., Jr., Price, C. F., Jr., and Sutherland, A. A., Jr., 2001, Applied Optimal Estimation, MIT, Cambridge, MA.
Tin, C., and Poon, C., 2005, “Internal Models in Sensorimotor Integration: Perspectives From Adaptive Control Theory,” J. Neural Eng., 2(3), pp. 147–163. [CrossRef]
Cuong, H. T., and Parsons, M. G., 1981, “An Adaptive Surface Ship Path Control System,” Workshop on Applications of Adaptive Systems Theory, Yale University, New Haven, CT.
Cuong, H. T., 1982, “Investigation of Methods for Adaptive Path Control of Surface Ships,” Ph.D. dissertation, University of Michigan, Ann Arbor, MI.

Figures

Grahic Jump Location
Fig. 1

Reference systems for the mathematical model of vessel maneuvering

Grahic Jump Location
Fig. 2

Actual, measured, and estimated vessel states

Grahic Jump Location
Fig. 3

Actual and estimated vessel parameters

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In