Optimal control theory applied to ship maneuvering in restricted waters
Name
63762304-MIT.pdf
Description
Full printable version
Size
2.71 MB
Format
Adobe PDF
Checksum (MD5)
7e413ed02e5bbd54df9be641be64eb95
Author(s)
Thomas, Brian S., S.M. Massachusetts Institute of Technology
Advisor(s)
Paul D. Sclavounos.
Date Issued
2005
Publisher
Massachusetts Institute of Technology
Abstract
Ship drivers have long understood that powerful interaction forces exist when ships operate in close proximity to rigid boundaries or other vessels. Controlling the effects of these forces has been traditionally handled by experienced helmsmen. The purpose of this research is to apply modern optimal control theory to these maneuvering scenarios in order to show that helmsman may some day be replaced by modern controllers. The maneuvering equations of motion are cast in a linear state space framework, permitting the design of a linear quadratic (LQ) controller. In addition, the hydrodynamic effects are modeled using potential flow theory in order to simulate the interaction forces and test the efficacy of the controller. This research demonstrates that the linear quadratic regulator effectively controls ship motions due to the presence of a boundary or other vessel over a broad range of speeds and separation distances. Furthermore, the method proposed provides stable control in the presence of additional. stochastic disturbances.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.
Includes bibliographical references (leaves 70-71).
Subjects
Ocean Engineering.
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Department of Ocean Engineering
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