A ship heading and speed control concept inherently satisfying actuator constraints
Mikkel Eske Nørgaard Sørensen, Morten Breivik, Bjørn-Olav Holtung Eriksen · 2017 IEEE Conference on Control Technology and Applications (CCTA) · 2017
Satisfying actuator constraints is often not considered in the academic literature on the design of ship heading and speed controllers. This paper considers the use of a simplified dynamic window algorithm as a way to ensure that actuator constraints are satisfied. To accomplish this, we use the simplified dynamic window algorithm as a dynamic window-based controller (DWC) to guarantee that the velocities remain within a set of feasible boundaries, while simultaneously respecting the actuator constraints. We also develop a modified nonlinear ship model on which to test the proposed concept. The DWC is compared with a more traditional ship heading and speed controller, using performance metrics which consider both control accuracy and energy use.