State-space modeling and optimal control of ship motions in a seastate

In this thesis, a new state-space model and motion control algorithm are developed from first principles for the improvement of the seakeeping performance of high-speed vessels equipped with lifting appendages that are actively controlled in regular and random waves. A ship at sea can experience all the translational and rotational modes of motion that are undesirable, yet unavoidable. These motions have been of great concern to the navies and other organizations engaged in shipping for decades and need to be dealt with through the use of a control system. In this work, a new general purpose state-space control-oriented time domain model for the ship motions is introduced. A discrete auto-regressive state-space model is developed using the state-of-the-art linear seakeeping simulation method SWAN. Novel features of this state-space model are its ability to capture all free-surface memory effects present in the seakeeping problem, its coupling with the theoretical framework of Linear Quadratic (LQ) controllers and its efficient implementation.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2006

Author dc:creator

• Ulusoy, Talha

Advisor dc:contributor.advisor

• Paul D. Sclavounos.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/37272

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/37272