Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005. / Includes bibliographical references (leaves 70-71). / Ship drivers have long understood that powerful interaction forces exist when ships operate in close proximity to rigid boundaries or other vessels. Controlling the effects of these forces has been traditionally handled by experienced helmsmen. The purpose of this research is to apply modern optimal control theory to these maneuvering scenarios in order to show that helmsman may some day be replaced by modern controllers. The maneuvering equations of motion are cast in a linear state space framework, permitting the design of a linear quadratic (LQ) controller. In addition, the hydrodynamic effects are modeled using potential flow theory in order to simulate the interaction forces and test the efficacy of the controller. This research demonstrates that the linear quadratic regulator effectively controls ship motions due to the presence of a boundary or other vessel over a broad range of speeds and separation distances. Furthermore, the method proposed provides stable control in the presence of additional. stochastic disturbances. / by Brian S. Thomas. / S.M.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/33591 |
| Date | January 2005 |
| Creators | Thomas, Brian S., S.M. Massachusetts Institute of Technology |
| Contributors | Paul D. Sclavounos., Massachusetts Institute of Technology. Dept. of Mechanical Engineering., Massachusetts Institute of Technology. Dept. of Ocean Engineering., Massachusetts Institute of Technology. Dept. of Mechanical Engineering. |
| Publisher | Massachusetts Institute of Technology |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 71 leaves, 3062158 bytes, 3065053 bytes, application/pdf, application/pdf, application/pdf |
| 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., http://dspace.mit.edu/handle/1721.1/7582 |
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