..., the fuzzy method and the PID algorithm are combined to develop the fuzzy PID controller, and the genetic algorithm is applied to solve the thrust distribution problem. The dedicated experiments of the DP lifting operation are carried out at Tianjin University. Comparisons between the experimental results...

... with exponential forgetting. The parameter identification algorithm can identify uncertain parameters of unmanned ships based on the actual rudder angle, speed, and motion trajectory data of unmanned ships. After obtaining the identified parameters, a nonlinear controller for unmanned ship trajectory tracking...

... system for an underactuated Unmanned Surface Vessel (USV). Based on the line-of-sight algorithm and control requirements of ships, the ship trajectory tracking control problem is modeled as a Markov decision process, designing its state space, action space, and reward function, which rewards the agent...

... in conjunction with two degrees of freedom solid body motion equations, including trim and sinkage. Two techniques—multipoint interpolation and PID control—were used to determine the self-propulsion point during the simulation. The computational results of self-propulsion are compared with the extrapolation...

... absorption control for wind-wave hybrid platforms: a generalised LQR approach Maria Luisa Celesti, Nicol´as Faedo, Giuliana Mattiazzo Marine Offshore Renewable Energy Lab, Politecnico di Torino Turin, Italy ABSTRACT Hybrid wind-wave energy conversion platforms, essential in the path towards global...

... ABSTRACT This paper investigates the possibility of the linearization for the aerodynamic load while considering the effect of the control system. Rotor thrusts which are calculated by OpenFAST were used for deriving equations of the transfer function for aero-servo-dynamic loads, and RADIS...

... during tunnel inspections. In order to cover the entire tunnel, ROVs typically adhere to a predefined path or trajectory under the guidance of a controller, as illustrated in Fig. 1. Consequently, understanding transient cable disturbances acting on ROVs during trajectory tracking within confined spaces...

...Proceedings of the Thirty-fourth (2024) International Ocean and Polar Engineering Conference Rhodes, Greece, June 16 21, 2024 Copyright © 2024 by the International Society of Offshore and Polar Engineers (ISOPE) ISBN 978-1-880653-78-4; ISSN 1098-6189 www.isope.org Level control of tension-leg...

... radius. To that end, a general problem of monitoring umbilical bend radius at the Touch Down Point is formulated as a control system design problem. A discrete-time linear model is proposed to be used as basis for model-based control system design in the application of deep-water subsea umbilical...

... Control Method for X-rudder Underwater Vehicle Haochen Hong 1 Kan Xu 2 Tinxiao Xiong 1 Guohua Xu 1 1 School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China 2 No.2 Research Department, Wuhan Second Ship Design and Research Institute, Wuhan...

... control to become very tricky. In this paper, we introduce the sea current interference, and use Model Predictive Control (MPC) algorithm to achieve the tracking control of the navigation path, and compensate the system error through the feed-forward link. This study suggests a bi-conical collision model...

... ABSTRACT In the presence of external environmental perturbations and model uncertainty, this paper proposes a motion control method combining RBF neural network and terminal sliding mode, which utilizes the RBF neural network for online approximation of model uncertainty and external...

... and heading control method Linyuan Chen1, Zhiqiang Yang1, Bin He2,Tingxiao Xiong1, Guohua Xu1 1 School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology,Wuhan, Hubei, China 2 No.2 research Department, Wuhan Second Ship Design and Research Institute, Wuhan, Hubei, China...

...Proceedings of the Thirty-fourth (2024) International Ocean and Polar Engineering Conference Rhodes, Greece, June 16 21, 2024 Copyright © 2024 by the International Society of Offshore and Polar Engineers (ISOPE) ISBN 978-1-880653-78-4; ISSN 1098-6189 www.isope.org Research on Speed Control...

... ABSTRACT This paper presents a leveling method for the submersion and surfacing process of underwater parallel robots, employing a coordinated control approach based on multiple electrically controlled winches and displacement feedback loops. The control strategy for each individual winch...

...Proceedings of the Thirty-fourth (2024) International Ocean and Polar Engineering Conference Rhodes, Greece, June 16 21, 2024 Copyright © 2024 by the International Society of Offshore and Polar Engineers (ISOPE) ISBN 978-1-880653-78-4; ISSN 1098-6189 www.isope.org Enhanced horizontal Hover Control...

... Deep Deterministic Policy Gradient (MTD3) algorithm is adapted to train a controller for obstacle avoidance. A Markov decision process model including state, action, and reward functions is designed, and a suitable reinforcement-learning training environment is designed. The obstacle-avoidance ability...

... equations were solved using commercial CFD software Star CCM+ coupled with two degrees of freedom solid body motion equations, including heave and pitch. The self-propulsion point is determined by autonomously adjusting the propeller rotational speed with a PID controller to balance the total ship...

... and the controller through ROS real time by applying the three-degree-of-freedom equation of motion of the ship. The sensor detects an obstacle at the position of the changed ship, and the detection result is transmitted back to the controller to be used to generate a path. INTRODUCTION An autonomous ship...

... machine learning target path cross-track error evolutionary algorithm drift angle los guidance law guidance law ship adrc coordinate system grey wolf optimization derivative gwo artificial intelligence controller disturbance course controller rejection control parameter tuning...