Abstract
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 encounter situation is tested based on ship-shore cooperation. The results show that the consumed energy increases with the increase of the speed. In addition, when the intensity and direction of the environmental disturbance are different, the energy consumption is also different. The energy consumed by the ships when moving at different speeds and in different environmental intensities is discussed. Furthermore, the reasons for the fluctuations in energy consumption with respect to the ship speed are analyzed.
Recommended Citation
Xue, Han and Yang, Enjie
(2024)
"Adaptive Prediction Horizon Energy-saving Collision-Free MPC of Ships Based on Ship-Shore Cooperation,"
Journal of Marine Science and Technology: Vol. 32:
Iss.
1, Article 4.
DOI: 10.51400/2709-6998.2730
Available at:
https://jmstt.ntou.edu.tw/journal/vol32/iss1/4
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