Abstract
A novel type of control law was adopted to reduce the vertical acceleration of a fast ferry as well as the motion sickness incidence suffered by the passengers onboard by means of a submerged T-foil. Considering the system changing characteristics under high disturbances, a model-free approach was adopted. In addition, an upgraded proportional-derivative (PD) controller with correction terms resulting from a fast-online estimation of the system dynamics was designed. The overall controller, known as intelligent PD (i-PD) controller, was tested, and the obtained results were compared with those of a classic PD controller. The controllers were also tested in a changing environment and at different operating velocities. The results confirmed the effectiveness of the i-PD controller to smooth the motions with low computational cost control schemes. Furthermore, thanks to ability of the i-PD controller to continually update the estimated dynamics of the system, it showed a better reduction in both vertical motions and the seasickness level of the passengers with the needed robustness under external disturbances and system changing parameters.
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Ticherfatine, M., Zhu, Q. Fast Ferry Smoothing Motion via Intelligent PD Controller. J. Marine. Sci. Appl. 17, 273–279 (2018). https://doi.org/10.1007/s11804-018-0024-6
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DOI: https://doi.org/10.1007/s11804-018-0024-6