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Journal of Marine Science and Technology
Underactuated ships; Model predictive control; Berthing control; Energy-saving; Ship collision avoidance; Ship-Shore Cooperation
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Full-Text Articles in Mechanical Engineering
Adaptive Prediction Horizon Energy-Saving Collision-Free Mpc Of Ships Based On Ship-Shore Cooperation, Han Xue, Enjie Yang
Adaptive Prediction Horizon Energy-Saving Collision-Free Mpc Of Ships Based On Ship-Shore Cooperation, Han Xue, Enjie Yang
Journal of Marine Science and Technology
ABSTRACT:In order to perform the close association between ship maneuvering control and energy consumption through the control strategy, this paper designs an adaptive prediction horizon based energy-saving robust nonlinear model predictive control (APHERNMPC) for underactuated ships to deal with the actual control and state constraints during berthing based on ship-shore cooperation. An improved Emperor Penguin Optimizer (EPO) method is proposed for collision avoidance decision. To solve the problems of falling into local optimum and reducing the convergence speed, the traditional EPO is improved based on Sobol sequence in order to enhance the diversity and ergodicity of the population. The multi-ship …