Improvement of Ship Motion Control Using a Magnitude-Rate Saturation Model

Ole Nikolai Lyngstadaas • Tore Egil Sæterdal • Mikkel Eske Noergaard Soerensen • Morten Breivik

10:40 - 11:00 | Wednesday 22 August 2018 | Fredensborg



Motion control concepts for ships have traditionally not focused on handling actuator constraints. This paper investigates the effects on performance of a pair of nonlinear control schemes by developing and implementing a magnitude-rate saturation (MRS) model. The effects of using the MRS model is tested in experiments with a model ship in an ocean basin. Performance metrics are used to evaluate performance in terms of control error, energy efficiency, and actuator wear and tear.