Department of Ship Automation, Gdynia Maritime University, 81-85 Morska Str., 81-225 Gdynia, Poland.
Sensors (Basel). 2021 Mar 24;21(7):2286. doi: 10.3390/s21072286.
The concept of the Marine Autonomous Surface Ship (MASS) requires new solutions in many areas: from law, through economics, social sciences, environmental issues to the technology and even ethics. It also plays a central role in the work of numerous research teams dealing with the ship motion control systems. This article presents the results of the experiments with application of the selected control methods in automatic steering of the movement of an autonomous ship in the two regimes: during the maneuvers at low speed (in a harbor confined waters) and during the lake trials in open water conditions. In the first case, multidimensional state controller synthesized with Linear Matrix Inequalities (LMI) algorithms was used, while, in the second case, Model Predictive Control (MPC) control was adopted. The object for which the experiments were carried out was 1:24 scale model of the Liquefied Natural Gas (LNG) carrier. The paper presents also the design of the measurement and control system and the user interface. The experiments were conducted in the natural conditions on the lake. The results of the experiments indicate the fundamental role of the measurement system in the process of controlling an autonomous ship.
海洋自主水面船舶（MASS）的概念需要在许多领域提出新的解决方案：从法律、经济、社会科学、环境问题到技术甚至伦理。它在涉及船舶运动控制系统的众多研究团队的工作中也起着核心作用。本文介绍了在自动转向运动控制应用选定的控制方法的实验结果在两个阶段的自主船：在低速机动（在港口限制水域）和在湖试在开阔水域条件下。在第一种情况下，使用基于线性矩阵不等式（LMI）算法合成的多维状态控制器，而在第二种情况下，采用模型预测控制（MPC）控制。进行实验的对象是液化天然气（LNG）运输船的 1:24 比例模型。本文还介绍了测量和控制系统以及用户界面的设计。实验在湖上的自然条件下进行。实验结果表明，测量系统在控制自主船舶的过程中起着基础性作用。
