**Page description appears here**

“A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship”

Authors: Roger Skjetne, Řyvind N. Smogeli and Thor I. Fossen,
Affiliation: NTNU, Centre for Ships and Ocean Structures
Reference: 2004, Vol 25, No 1, pp. 3-27.

     Valid XHTML 1.0 Strict

Keywords: Ship control; manoeuvering; nonlinear ship model; system identification, robust adaptive control; experimental testing

Abstract: Complete nonlinear dynamic manoeuvering models of ships, with numerical values, are hard to find in the literature. This paper presents a modeling, identification, and control design where the objective is to manoeuver a ship along desired paths at different velocities. Material from a variety of references have been used to describe the ship model, its difficulties, limitations, and possible simplifications for the purpose of automatic control design. The numerical values of the parameters in the model is identified in towing tests and adaptive manoeuvering experiments for a small ship in a marine control laboratory.

PDF PDF (369 Kb)        DOI: 10.4173/mic.2004.1.1

DOI forward links to this article:
  [1] Alan M. Whitman, Hashem Ashrafiuon and Kenneth R. Muske (2011), doi:10.1115/1.4002976
  [2] Morten Breivik, Vegard E. Hovstein and Thor I. Fossen (2008), doi:10.4173/mic.2008.4.2
  [3] So-Ryeok Oh, Jing Sun, Zhen Li, E.A. Celkis and D. Parsons (2010), doi:10.1109/TMECH.2009.2024308
  [4] Young-Hwan Park and Jae-Kyung Lee (2012), doi:10.5302/J.ICROS.2012.18.1.001
  [5] F. J. Velasco, E. Revestido, E. Moyano and E. López (2012), doi:10.1002/cae.20444
  [6] David Moreno-Salinas, Dictino Chaos, Eva Besada-Portas, José Antonio López-Orozco, Jesús M. de la Cruz and Joaquín Aranda (2013), doi:10.1155/2013/890120
  [7] Serge Sutulo and C. Guedes Soares (2014), doi:10.1016/j.oceaneng.2014.01.007
  [8] Weilin Luo, Lúcia Moreira and C. Guedes Soares (2014), doi:10.1016/j.oceaneng.2014.03.008
  [9] Arturo Padilla, Juan I. Yuz and Benjamin Herzer (2014), doi:10.1080/00207179.2014.897036
  [10] Haizhi Liang, Luyu Li and Jinping Ou (2014), doi:10.1007/s11802-014-2066-y
  [11] Erik Kyrkjebø (2015), doi:10.4173/mic.2015.2.3
  [12] Flavia Benetazzo, Gianluca Ippoliti, Sauro Longhi and Paolo Raspa (2015), doi:10.1016/j.oceaneng.2015.07.001
  [13] DongBin Lee, Enver Tatlicioglu, Timothy C. Burg and Darren M. Dawson (2008), doi:10.1109/ACC.2008.4586548
  [14] Kenneth R. Muske, Hashem Ashrafiuon, Geoffrey Haas, Ryan McCloskey and Timothy Flynn (2008), doi:10.1109/ACC.2008.4586551
  [15] A. Pereira, J. Das and G.S. Sukhatme (2008), doi:10.1109/IROS.2008.4650991
  [16] DongBin Lee, Enver Tatlicioglu, Timothy C. Burg and Darren M. Dawson (2008), doi:10.1109/CDC.2008.4739313
  [17] Bao-Li Ma and Wen-Jing Xie (2013), doi:10.1049/iet-cta.2012.0539
  [18] L. Consolini and M. Tosques (2012), doi:10.1109/TAC.2012.2199178
  [19] Francisco Jesus Velasco, Elias Revestido Herrero, Eloy Lopez and Emiliano Moyano (2013), doi:10.1109/JOE.2012.2227175
  [20] John M. Daly, Michael J. Tribou and Steven L. Waslander (2012), doi:10.1109/IROS.2012.6385523
  [21] Kilsoo Kim, Young-Ki Lee, Sehwan Oh, David Moroniti, Dimitri Mavris, George J. Vachtsevanos, Nikos Papamarkos and George Georgoulas (2013), doi:10.1109/MED.2013.6608750
  [22] Arturo Padilla and Juan I. Yuz (2013), doi:10.1109/CDC.2013.6760592
  [23] Guoqing Xia, Ju Liu and Huiyong Wu (2013), doi:10.1109/ICNC.2013.6817972
  [24] Simone Formentin, Daniele Berretta, Nazario Urbano, Ivo Boniolo, Pierpaolo De Filippi and Sergio M. Savaresi (2013), doi:10.1109/TMECH.2013.2263092
  [25] Guoqing Xia, Ju Liu, Xinghua Chen, Dapeng Wang and Rongtao Yang (2015), doi:10.1109/ICMA.2015.7237675
  [26] M. Breivik and T.I. Fossen (2004), doi:10.1109/OCEANS.2004.1406507
  [27] Guoqing Xia, Ju Liu and Ang Zhao (2015), doi:10.1109/CCDC.2015.7162034
  [28] Baris Bidikli, Enver Tatlicioglu and Erkan Zergeroglu (2014), doi:10.1109/CDC.2014.7040073
  [29] Mikkel Eske, Norgaard Sorensen and Morten Breivik (2015), doi:10.1016/j.ifacol.2015.10.295
  [30] Z.X. Liu, C. Yuan and Y.M. Zhang (2015), doi:10.1016/j.ifacol.2015.10.271
  [31] Baris Bidikli, Enver Tatlicioglu and Erkan Zergeroglu (2016), doi:10.1016/j.oceaneng.2015.12.057
  [32] Liu Zhixiang, Zhang Youmin, Yuan Chi and Luo Jun (2015), doi:10.1109/ChiCC.2015.7260611
  [33] Baris Bidikli, Enver Tatlicioglu and Erkan Zergeroglu (2015), doi:10.1109/IROS.2015.7353503
  [34] Hassene Rebhi and Samir Nejim (2015), doi:10.1109/SSD.2015.7348188
  [35] Zhixiang Liu, Youmin Zhang, Xiang Yu and Chi Yuan (2016), doi:10.1016/j.arcontrol.2016.04.018
  [36] F. Benetazzo, G. Ippoliti, S. Longhi and P. Raspa (2012), doi:10.3182/20120531-2-NO-4020.00041
  [37] Andrew Ross, Tristan Perez and Thor I. Fossen (2007), doi:10.3182/20070919-3-HR-3904.00041
  [38] Huarong Zheng, Rudy R. Negenborn and Gabriel Lodewijks (2014), doi:10.3182/20140824-6-ZA-1003.00767
  [39] Morten Breivik, Vegard E. Hovstein and Thor I. Fossen (2008), doi:10.3182/20080706-5-KR-1001.02706
  [40] Sascha Hornauer and Axel Hahn (2013), doi:10.3182/20130918-4-JP-3022.00049
  [41] Guoyuan Li, Houxiang Zhang, Bikram Kawan, Hao Wang, Ottar L. Osen and Arne Styve (2016), doi:10.1109/OCEANSAP.2016.7485648
  [42] Lokukaluge P. Perera, P. Oliveira and C. Guedes Soares (2016), doi:10.1109/JOE.2015.2460871
  [43] Mikkel Eske Norgaard Sorensen, Elias S. Bjorne and Morten Breivik (2016), doi:10.1109/CCA.2016.7587926
  [44] Yang Qu, Haixiang Xu, Wenzhao Yu, Hui Feng and Xin Han (2017), doi:10.1007/s11804-017-1410-1
  [45] Wilhelm B. Klinger, Ivan R. Bertaska, Karl D. von Ellenrieder and M. R. Dhanak (2017), doi:10.1109/JOE.2016.2571158
  [46] Lokukaluge P. Perera (2017), doi:10.1016/j.oceaneng.2017.04.017

[1] ABKOWITZ, M. A. (1964). Lectures on ship hydrodynamics - steering and manoeuvrability, Technical report Hy-5, Hydro- and Aerodynamics Laboratory, Lyngby, Denmark.
[2] ANDERSON, B. D. O., BITMEAD, R. R., JOHNSON, JR., C. R., KOKOTOVIC , P. V., KOSUT, R. L., MAREELS, I. M. Y., PRALY, L. RIEDLE, B. D. (1986). Stability of adaptive systems, MIT Press Series in Signal Processing, Optimization, and Control, 8, The MIT Press, Cambridge, MA, USA. Passivity and averaging systems.
[3] BLANKE, M. (1981). Ship Propulsion Losses Related to Automated Steering and Prime Mover Control, Phd thesis, Technical Univ. of Denmark, Lyngby, Denmark.
[4] CLARKE, D. (2003). The foundations of steering and manoeuvring, Proc. IFAC Conf. Manoeuvering and Control of Marine Crafts, IFAC, Girona, Spain.
[5] DAVIDSON, K. S. M. SCHIFF, L. I. (1946). Turning and course keeping qualities, Trans. Soc. of Nav. Architects Marine Eng. 54: 152 - 200.
[6] FALTINSEN, O. M. (1990). Sea Loads on Ships and Offshore Structures, Cambridge University Press.
[7] FEDYAEVSKY, K. K. SOBOLEV, G. V. (1963). Control and Stability in Ship Design, State Union Shipbuilding Publishing House, Leningrad. 26.
[8] FOSSEN, T. (1994). Guidance and Control of Ocean Vehicles, John Wiley and Sons Ltd, England.
[9] FOSSEN, T. I. (2002). Marine Control Systems: Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics, Trondheim, Norway.
[10] FOSSEN, T. I., BREIVIK, M. SKJETNE, R. (2003). Line-of-sight path following of underactuated marine craft, Proc. IFAC Conf. Manoeuvering and Control of Marine Crafts, IFAC, Girona, Spain, pp. 244.249.
[11] FOSSEN, T. I. STRAND, J. P. (1999). Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with a supply vessel, Automatica 35(1): 3 - 16 doi:10.1016/S0005-1098(98)00121-6
[12] HOLZHÜTER, T. (1997). LQG approach for the high-precision track control of ships, IEE Proc. Control Theory Appl. 14.2: 121 - 127 doi:10.1049/ip-cta:19971032
[13] JOHANSEN, T. A., FUGLSETH, T. P., TŘNDEL, P. FOSSEN, T. I. (2003). Optimal constrained control allocation in marine vessels with rudders, Proc. IFAC Conf. Manoeuvering and Control of Marine Crafts, IFAC, Girona, Spain.
[14] KRSTIC, M., KANELLAKOPOULOS, I. KOKOTOVIC, P. (1995). Nonlinear and Adaptive Control Design, John Wiley and Sons Ltd, New York.
[15] LEFEBER, E., PETTERSEN, K.Y. NIJMEIJER, H. (2003). Tracking control of an underactuated ship, IEEE Trans. Contr. Sys. Tech. 1.1: 52 - 61 doi:10.1109/TCST.2002.806465
[16] LEWIS, E. V. (1988). Principles of Naval Architecture: Volume II - Resistance, Propulsion, and Vibration, Vol. 2, 2 edn, Soc. Naval Architects and Marine Engineers.
[17] LINDEGAARD, K.-P. (2003). Acceleration Feedback in Dynamic Positioning, Phd thesis, Norwegian University of Science and Technology, Trondheim, Norway.
[18] LINDEGAARD, K.-P. FOSSEN, T. I. (2003). Fuel efficient rudder and propeller control allocation for marine craft: Experiments with a model ship, IEEE Trans. Contr. Sys. Tech. 1.6.
[19] MERIAM, J. L. KRAIGE, L. G. (1993). Engineering Mechanics: Dynamics, Vol 2, 3 edn, John Wiley and Sons Ltd, New York.
[20] NEWMAN, J. N. (1999). Marine Hydrodynamics, 9 edn, The MIT Press, Cambridge, Massachusetts.
[21] NOMOTO, K., TAGUCHI, T., HONDA, K. HIRANO, S. (1957). On the steering qualities of ships, Technical report 4, Int. Shipbuilding Progress.
[22] NORRBIN, N. H. (1970). Theory and observation on the use of a mathematical model for ship manoeuvering in deep and confined waters, 8th Symp. Naval Hydrodynamics, Pasadena, California, USA.
[23] SKJETNE, R. FOSSEN, T. (2004). On integral control in backstepping: Analysis of different techniques, Proc. American Control Conf., AACC, Boston, USA. Submitted.
[24] SKJETNE, R., FOSSEN, T. I. KOKOTOVIC, P. V. (2004). Adaptive output maneuvering with experiments for a model ship in a marine control laboratory, Automatica. Submitted Nov. 12, 2003.
[25] SKJETNE, R., FOSSEN, T.I. KOKOTOVIC, P. V. (2004). Robust output maneuvering for a class of nonlinear systems, Automatica 4.3: 373 - 383 doi:10.1016/j.automatica.2003.10.010
[26] SŘRENSEN, A. (2002). Kompendium: Marine Cybernetics - Modelling and Control, Marine Technology Centre, Trondheim, Norway.
[27] SŘRENSEN, A. J., SAGATUN, S.I. FOSSEN, T.I. (1996). Design of a dynamic positioning system using model-based control, Control Eng. Practice 4(3): 359 - 368 doi:10.1016/0967-0661(96)00013-5
[28] STRAND, J. P. (1999). Nonlinear Position Control Systems Design for Marine Vessels, Phd thesis, Norwegian University of Science and Technology, Trondheim, Norway. The Society of Naval Architects and Marine Engineers.1950. Nomenaclature for treating the motion of a submerged body through a fluid, Technical and Research Bulletin No. 1 - 5.

  title={{A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship}},
  author={Skjetne, Roger and Smogeli, Řyvind N. and Fossen, Thor I.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


May 2016: MIC reaches 2000 DOI Forward Links. The first 1000 took 34 years, the next 1000 took 2.5 years.

July 2015: MIC's new impact factor is now 0.778. The number of papers published in 2014 was 21 compared to 15 in 2013, which partially explains the small decrease in impact factor.

Aug 2014: For the 3rd year in a row MIC's impact factor increases. It is now 0.826.

Dec 2013: New database-driven web-design enabling extended statistics. Article number 500 is published and MIC reaches 1000 DOI Forward Links.

Jan 2012: Follow MIC on your smartphone by using the RSS feed.


July 2011: MIC passes 1000 ISI Web of Science citations.

Mar 2010: MIC is now indexed by DOAJ and has received the Sparc Seal seal for open access journals.

Dec 2009: A MIC group is created at LinkedIn and Twitter.

Oct 2009: MIC is now fully updated in ISI Web of Knowledge.