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Optimal Control of a Ship for a Course-Changing Maneuver

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Abstract

The steering control of a ship during a course-changing maneuver is formulated as a Bolza optimal control problem, which is solved via the sequential gradient-restoration algorithm (SGRA). Nonlinear differential equations describing the yaw dynamics of a steering ship are employed as the differential constraints, and both amplitude and slew rate limits on the rudder are imposed. Two performance indices are minimized: one measures the time integral of the squared course deviation between the actual ship course and a target course; the other measures the time integral of the absolute course deviation. Numerical results indicate that a smooth transition from the initial set course to the target course is achievable, with a trade-off between the speed of response and the amount of course angle overshoot.

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Authors and Affiliations

  1. Institute of Maritime Technology, National Taiwan Ocean University, Keelung, Taiwan, ROC

    C. Y. Tzeng (Associate Professor)

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  1. C. Y. Tzeng
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Tzeng, C.Y. Optimal Control of a Ship for a Course-Changing Maneuver. Journal of Optimization Theory and Applications 97, 281–297 (1998). https://doi.org/10.1023/A:1022674516570

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  • DOI: https://doi.org/10.1023/A:1022674516570

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