Heading Control With Roll Constraints

Ship maneuvering process always causes ship heeling and rolling motions. Inrough sea conditions, any improper maneuvering control will result in thelarge-amplitude motions and even capsizing accidents. Careful consideration of therolling motions during the ship maneuvering process is very important for sailingsafety.In this paper, a heading control approach with roll constraints was establishedbased on the model predictive control method. The roll constrains were embeddedinto the heading control algorithm. The measurement noise and the high-frequencywave disturbance were removed with Kalman filter, which could reduce the frequencyof rudder operation and satisfy the mechanical limitations of the rudder system.Application of the proposed heading controller to two vessels in Simulinkdemonstrates expected functions and effects. The heading controller can effectivelymaintain the ship course within the limitations of rudder angle, rudder angle rate, andthe roll amplitude of the ship. Adjusting the parameters of controller can achieve abetter performance and stronger robustness.