“Adaptive ship autopilot with wave filter”

Authors: Steinar Sælid and Nils A. Jenssen,
Affiliation: NTNU, Department of Engineering Cybernetics and SINTEF
Reference: 1983, Vol 4, No 1, pp. 33-45.

Keywords: Adaptive control, wave filter, convergence analysis, autopilot

Abstract: This paper is concerned with analysis and design of an adaptive autopilot for ships. The design is based on a low and high frequency model of the vessel motion adequate to ship steering. The low frequency model describes the vessel response to rudder control and slowly varying environmental forces. The high frequency model represents the wave induced oscillatory part of the yaw motion. The models are used in a Kalman filter and the rudder control is computed from linear quadratic theory based on the low frequency part of the vector. This yields a very effective filtering of the wave component of the yaw motion. Proper operation of this filter/controller structure requires knowledge of the vessel model parameters and the dominating wave frequency. The vessel parameters are estimated on line by a recursive prediction error method. In order to reduce the computing requirements, the state estimator is operated using scheduled gains. This results in an easy and robust design. The convergence properties are investigated by using the method of Ljung. The performance is confirmed by simulation experiments.

PDF PDF (2370 Kb)        DOI: 10.4173/mic.1983.1.3

DOI forward links to this article:
[1] Wang Xian-zhou and Xu Han-zhen (2006), doi:10.1007/s11804-006-0031-x
[2] Trygve Lauvdal and Thor I. Fossen (1996), doi:10.4173/mic.1996.2.4
[3] (2011), doi:10.1002/9781119994138.refs
[4] Trygve Lauvdal and Thor I. Fossen (1998), doi:10.1002/(SICI)1099-1115(199812)12:8<605::AID-ACS516>3.0.CO;2-1
[5] Olav Egeland (1984), doi:10.4173/mic.1984.4.1
[6] Steinar Saelid and Bjarne Foss (1983), doi:10.1109/CDC.1983.269785
[7] Trygve Lauvdal and Thor I. Fossen (1995), doi:10.1016/S1474-6670(17)51680-8
[8] Piotr Borkowski (2018), doi:10.3390/a11090130
[9] Rui Wu and Jialu Du (2019), doi:10.1007/s12555-018-0733-2
[10] Lijun Wang, Nikolaos I. Xiros and Eleftherios K. Loghis (2019), doi:10.1007/s11804-019-00116-3
[11] (2021), doi:10.1002/9781119575016.ref
[12] Chunyu Song, Xianku Zhang and Guoqing Zhang (2022), doi:10.3390/jmse10091210
[13] Tseligorov N. A., Chubukin A. V., Ozersky A. I., Lebedev A. R. and Tseligorova E. N. (2023), doi:10.37394/23203.2023.18.67
[1] ÅSTRÖM, K.J., KALLSTRÖM, C.G. (1976). Identification of ship steering dynamics, Automatica., 12, 9 doi:10.1060/0005-1098(76)90064-9
[2] BALCHEN, J.G., JENSSEN, N.A., SÆLID, S. (1980). Dynamic positioning of floating vessels based on Kalman filtering and optimal control theory, Proceedings 19th IEEE Conference on Decision and Control, Albuquerque, USA, pp. 852-864.
[3] KALLSTRÖM, C.G. (1979). Identification and adaptive control applied to ship steering, Thesis, Dept. of Automatic Control, Lund Institute of Technology, Lund, Sweden.
[4] KALLSTRÖM, C.G., ÅSTRÖM, K.J., THORELL, N.E., ERIKSON, J.. STEN, L. (1979). Adaptive autopilots for tankers, Automatica, 15, 241-254 doi:10.1016/0005-1098(79)90042-6
[5] KÄLLSTRÖM, C.G., ÅSTRÖM, K.J. (1981). Experiences of systems identification applied to ship steering, Automatica, 17, 1, 187-198 doi:10.1016/0005-1098(81)90094-7
[6] LJUNG, L. (1977). Analysis of recursive stochastic algorithms, IEEE Trans., AC-22, 551-575 doi:10.1109/TAC.1977.1101561
[7] LJUNG, L. (1977). On positive real transfer functions and the convergence of some recursive schemes, IEEE Trans., AC-22, 539- 551 doi:10.1109/TAC.1977.1101552
[8] LJUNG, L. (1981). Analysis of a general recursive prediction error identification algorithm, Automatica, 71, 1, 89-99 doi:10.1016/0005-1098(81)90086-8
[9] NORRBIN, N.H. (1970). Theory and observations on the use of a mathematical model for ship manoeuvering in deep and confined waters, Proceedings 8th Symposium on Naval Hydrodynamics. Pasadena, California.
[10] NORRBIN, N.H. (1972). On the added resistance due to steering on a straight course, 13th International Towing Tank Conference, Berlin/Hamburg.
[11] OHTSU, K., HORIGOME, M., KITAGAWA, G. (1979). A new ship´s auto pilot design through a stochastic model, Automatica, 15, 3, 255-268 doi:10.1016/0005-1098(79)90043-8

  title={{Adaptive ship autopilot with wave filter}},
  author={Sælid, Steinar and Jenssen, Nils A.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}