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Experimental study of adaptive course controllers with nonlinear modulators for surface ships in shallow water Chen, C.; Lataire, E.; Delefortrie, G. (2023). Experimental study of adaptive course controllers with nonlinear modulators for surface ships in shallow water. Isa Transactions 134: 417-430. https://dx.doi.org/10.1016/j.isatra.2022.08.005 In: Isa Transactions. ELSEVIER SCIENCE INC: New York. ISSN 0019-0578; e-ISSN 1879-2022, meer

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Beschikbaar in	Auteurs
VLIZ: Non-open access 389072 [ aanvragen ] Waterbouwkundig Laboratorium: Open Repository 385440 [ download pdf ] Waterbouwkundig Laboratorium: Non-open access 389369 [ aanvragen ]

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Trefwoorden

Harbours and waterways > Manoeuvring behaviour > Open water Physical modelling Marien/Kust

Author keywords

Ship manoeuvring; Course control; Model tests; Shallow water; Rudder efficiency

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Auteurs		Top
Chen, C., meer Lataire, E., meer Delefortrie, G., meer

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Abstract

The present paper proposes a new adaptive controller with nonlinear modulators to improve the controller adaptability and rudder efficiency so that a satisfactory course tracking performance of ships can be achieved. First, a new adaptive control law on basis of Internal Model Control (IMC) is designed to address the speed dependency of the controller. Three types of nonlinear modulators are then added to the developed adaptive controller to increase the rudder efficiency. Subsequently, the control system’s stability is analysed. Both course keeping and changing performance of the proposed controller are investigated via towing tank tests using a ship model of a Liquefied Natural Gas carrier. Finally, the applicability of controllers in shallow water is discussed. During experiments the developed algorithms show satisfactory course tracking ability in shallow and deep water. The advantages of better adaptability and higher rudder efficiency are verified by comparative results. Moreover, the impact of water depth on the controller cannot be ignored.

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