Maneuvering control and trajectory tracking of very large crude carrier.pdf

ARTICLE IN PRESS Ocean Engineering 34 (2007) 932–945 /locate/oceaneng Maneuvering control and trajectory tracking of very large crude carrier Witold Gierusz, Nguyen Cong Vinh, Andrzej Rak Department of Ship Automation, Gdynia Maritime University, 83 Morska Str., 81-225 Gdynia, Poland Received 25 January 2006; accepted 17 June 2006 Available online 20 September 2006 Abstract This paper presents a complex control system of the ship motions in confined waters. The general structure of this system is based on the two different controllers connected in parallel. They are dedicated to the different tasks and operate in different conditions. One of them is based on the robust control technology while another is based on the fuzzy logic technique. To decide which controller to use depends on the velocity of the vessel. The control system was implemented at the first stage on a nonlinear multi-variable simulation model and at the second stage on a real-time object—floating, autonomous model of the very large crude carrier (VLCC tanker). The whole system was developed in the MATLAB/Simulink platform. r 2006 Elsevier Ltd. All rights reserved. Keywords: Ship motion control; Ship model; Fuzzy control; Multivariable robust control; Real-time experiment 1. Introduction The regulator controls not only the geometrical position of the ship in relation to the reference trajectory but also The ship course control syste