Research

20 pages, 12781 KiB

Open AccessArticle

Numerical Research on Global Ice Loads of Maneuvering Captive Motion in Level Ice

by Shenyu Xuan, Chengsheng Zhan, Zuyuan Liu, Qiaosheng Zhao and Wei Guo

J. Mar. Sci. Eng. 2021, 9(12), 1404; https://doi.org/10.3390/jmse9121404 - 09 Dec 2021

Cited by 1 | Viewed by 2250

In level ice, the maneuvering motion of icebreakers has a major influence on the global ice loads of the hull. This study researched the influences of the drift angle and turning radius on the ice loads of the icebreaker Xue Long through a [...] Read more.

In level ice, the maneuvering motion of icebreakers has a major influence on the global ice loads of the hull. This study researched the influences of the drift angle and turning radius on the ice loads of the icebreaker Xue Long through a partial numerical method based on the linear superposition theory of ice loads. First, with reference to the Araon model tests performed by the Korea Research Institute of Ships and Ocean Engineering (KRISO), numerical simulations of Araon’s direct motion were carried out at different speeds, and the average deviation between numerical results and model test results was about 13.8%. Meanwhile, the icebreaking process and modes were analyzed and discussed, compared with a model test and a full-scale ship trial. Next, the maneuvering captive motions of oblique and constant radius were simulated to study the characteristics of ice loads under different drift angles and turning radii. Compared with the maneuvering motion model tests in the ice tank of Tianjin University and the Institute for Ocean Technology of the National Research Council of Canada (NRC/IOT), the numerical results had good agreement with the model test results in terms of the variation trend of ice loads and ice–hull interaction, and the influences of drift angle and turning radius on ice resistance and transverse force, which have a certain reference value for sailing performance research and the design of the hull form of icebreaker ships, are discussed. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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14 pages, 3421 KiB

Open AccessArticle

Identification of Ship Hydrodynamic Derivatives Based on LS-SVM with Wavelet Threshold Denoising

by Yi Hu, Lifei Song, Zuyuan Liu and Jianxi Yao

J. Mar. Sci. Eng. 2021, 9(12), 1356; https://doi.org/10.3390/jmse9121356 - 01 Dec 2021

Cited by 15 | Viewed by 2129

Abstract

Nowadays, system-based simulation is one of the main methods for ship manoeuvring prediction. Great efforts are usually devoted to the determination of hydrodynamic derivatives as required for the mathematical models used for such methods. System identification methods can be applied to determine hydrodynamic [...] Read more.

Nowadays, system-based simulation is one of the main methods for ship manoeuvring prediction. Great efforts are usually devoted to the determination of hydrodynamic derivatives as required for the mathematical models used for such methods. System identification methods can be applied to determine hydrodynamic derivatives. The purpose of this work is to present a parameter identification study based on least-squares support-vector machines (LS-SVMs) to obtain hydrodynamic derivatives for an Abkowitz-type model. An approach for constructing training data is used to reduce parameter drift. In addition, wavelet threshold denoising is applied to filter out the noise from the sample data during data pre-processing. Most of the resulting derivatives are very close to the original ones—especially for linear derivatives. Although the errors of high-order derivatives seem large, the final predicted results of the turning circle and zigzag manoeuvres agree pretty well with the reference ones. This indicates that the used methods are effective in obtaining manoeuvring hydrodynamic derivatives. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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16 pages, 8416 KiB

Open AccessArticle

Synchronization Control of Dynamic Positioning Ships Using Model Predictive Control

by Cheng Liu, Ting Sun and Qizhi Hu

J. Mar. Sci. Eng. 2021, 9(11), 1239; https://doi.org/10.3390/jmse9111239 - 08 Nov 2021

Cited by 10 | Viewed by 1677

Abstract

Underway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only the position and orientation but also the velocities are required to be controlled for ensuring the synchronization; additionally, the control [...] Read more.

Underway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only the position and orientation but also the velocities are required to be controlled for ensuring the synchronization; additionally, the control inputs are constrained. On this basis, in this paper, a novel synchronization controller on account of model predictive control (MPC) for dynamic positioning (DP) ships is devised to achieve underway replenishment. Firstly, a novel synchronization controller based on MPC is devised to ensure the synchronization of not only the position and orientation but the velocities; furthermore, it is a beneficial solution for its advantages in handling the control input constraints ignored in most studies of underway replenishment. Secondly, a neurodynamic optimization system is applied to the implementation of MPC, which can improve the computational efficiency and shorten the simulation time. Thirdly, stability, frequently neglected by traditional MPC, is ensured by the means of adding a terminal cost function exported from the Lyapunov equation into the objective function. Finally, the effectiveness and advantages of the proposed control design are illustrated by extensive simulations. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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16 pages, 10095 KiB

Open AccessArticle

RANS Computation of the Mean Forces and Moments, and Wave-Induced Six Degrees of Freedom Motions for a Ship Moving Obliquely in Regular Head and Beam Waves

by Jianxi Yao, Xide Cheng, Xuemin Song, Chengsheng Zhan and Zuyuan Liu

J. Mar. Sci. Eng. 2021, 9(11), 1176; https://doi.org/10.3390/jmse9111176 - 26 Oct 2021

Cited by 5 | Viewed by 1572

Abstract

Ship maneuvering performance in waves has attracted much attention in recent years. One of main research efforts for this problem has been devoted to the high-accuracy computation of hydrodynamic forces and moments, as well as wave-induced motions, for ships performing maneuvering motions in [...] Read more.

Ship maneuvering performance in waves has attracted much attention in recent years. One of main research efforts for this problem has been devoted to the high-accuracy computation of hydrodynamic forces and moments, as well as wave-induced motions, for ships performing maneuvering motions in waves. The objective of this article is to present a numerical study on the computation of the mean forces and moments, and wave-induced six degrees of freedom motions for a ship moving obliquely in regular head and beam waves. The RANS (Reynolds-Averaged Navier-Stokes) solver based on OpenFOAM is used for this purpose. The RANS computations herein are carried out in a horizontal coordinate system. The numerical wave maker with prescribing values of flow variables on the domain boundaries is applied for the wave generation in the computational domain. However, in order to prevent wave reflection, relaxed zones adjacent to the wave maker boundaries are set up. A new program module is inserted into OpenFOAM to update the flow velocity and wave evaluation on the wave-maker boundaries and in the relaxed zones during the RANS computation. The mesh deformation method is employed to allow the ship to perform motions in space. However, a virtual spring system is attached to the ship so as to restrain the surge, sway and yaw, while heave, pitch and roll are completely free, so that the ship is able to oscillate periodically around a certain position in space. The computed mean forces and moments with the inertia effects agree fairly well with the experimental data, and the computed wave-induced motions are also in quite reasonable agreement with the experimental data. This study shows a very successful computation, as well as the procedure of the RANS results processing. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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14 pages, 17625 KiB

Open AccessArticle

Radial Basis Function Neural Network Sliding Mode Control for Ship Path Following Based on Position Prediction

by Hugan Zhang, Xianku Zhang and Renxiang Bu

J. Mar. Sci. Eng. 2021, 9(10), 1055; https://doi.org/10.3390/jmse9101055 - 24 Sep 2021

Cited by 20 | Viewed by 2788

Abstract

In the process of ship navigation, due to the characteristics of large inertia and large time delay, overshoot can easily occur in the process of path following. Once the ship deviates from the waypoint, it is prone to grounding and collision. Considering this [...] Read more.

In the process of ship navigation, due to the characteristics of large inertia and large time delay, overshoot can easily occur in the process of path following. Once the ship deviates from the waypoint, it is prone to grounding and collision. Considering this problem, a sliding mode control algorithm based on position prediction using the radial basis function (RBF) neural network is proposed. The desired heading angle is designed according to a backstepping algorithm. The hyperbolic tangent function is used to design the sliding surface, and the course is controlled by sliding mode control. The second-order Taylor expansion is used to predict the future position, the current error and future error functions are constructed, and the total errors are fed back to the desired heading angle. In the sliding mode control system, the RBF neural network is used to approximate the total unknown term, and a velocity observer is introduced to obtain the surge velocity and sway velocity. To verify the effectiveness of the algorithm, the mathematical model group (MMG) model is used for simulation. The simulation results show the effectiveness and superiority of the designed controller. Therefore, the RBF neural network sliding mode controller based on predicted position has robustness for ship path following. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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21 pages, 3548 KiB

Open AccessArticle

Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control

by Ru-Yi Ren, Zao-Jian Zou and Jian-Qin Wang

J. Mar. Sci. Eng. 2021, 9(9), 1024; https://doi.org/10.3390/jmse9091024 - 18 Sep 2021

Cited by 4 | Viewed by 1689

Abstract

The motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, implementing Rudder Roll Stabilization [...] Read more.

The motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at the same time. The control objectives are to let the ship to track a predefined curve path under environmental disturbances, and to reduce the roll motion at the same time. A singular perturbation method is used to decouple the whole system into two subsystems of different time scales: the slow path-following subsystem and the fast roll reduction subsystem. The coupling effect of the two subsystems is also considered in this framework of analysis. RRS control is only possible when there is the so-called bandwidth separation characteristic in the ship motion system, which requires a large bandwidth separation gap between the two subsystems. To avoid the slow subsystem being affected by the wave disturbances of high frequency and large system uncertainties, the

L_{1}

adaptive control is introduced in the slow subsystem, while a Proportion-Differentiation (PD) control law is adopted in the fast roll reduction subsystem. Simulation results show the effectiveness and robustness of the proposed control strategy. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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10 pages, 1789 KiB

Open AccessArticle

An Exact Algorithm for Task Allocation of Multiple Unmanned Surface Vehicles with Minimum Task Time

by Kai Xue, Zhiqin Huang, Ping Wang and Zeyu Xu

J. Mar. Sci. Eng. 2021, 9(8), 907; https://doi.org/10.3390/jmse9080907 - 22 Aug 2021

Cited by 10 | Viewed by 2252

Abstract

Task allocation of unmanned surface vehicles (USVs) with low task cost is an important research area which assigns USVs from starting points to different target points to complete tasks. Most of the research lines of task allocation are using heuristic algorithms to obtain [...] Read more.

Task allocation of unmanned surface vehicles (USVs) with low task cost is an important research area which assigns USVs from starting points to different target points to complete tasks. Most of the research lines of task allocation are using heuristic algorithms to obtain suboptimal solutions to reduce both the max task cost and total task cost. In practice, reducing the maximum is more important to task time, which is from the departure of USVs to the last USV arriving at the designated position. In this paper, an exact algorithm is proposed to minimize the max task time and reduce the total task time based on the Hungarian algorithm. In this algorithm, task time is composed of the travel time along the planned path and the turning time at initial and target points. The fast marching square method (FMS) is used to plan the travel path with obstacle avoidance. The effectiveness and practicability of the proposed algorithm are verified by comparing it with the Hungarian algorithm (HA), the auction algorithm (AA), the genetic algorithm (GA) and the ant colony optimization algorithm (ACO). The results of path planning and task allocation are displayed in the simulation. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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18 pages, 3721 KiB

Open AccessEditor’s ChoiceArticle

Estimation of Maneuverability of Trawl Fishing Vessel Using an Analytical Method

by Su-Hyung Kim and Chun-Ki Lee

J. Mar. Sci. Eng. 2021, 9(8), 854; https://doi.org/10.3390/jmse9080854 - 08 Aug 2021

Cited by 2 | Viewed by 2183

Abstract

Most fishing vessels are less than 100 m in length between the perpendiculars, for which adherence to the International Maritime Organization maneuverability standards are not mandatory. In the design stage of fishing vessels, maneuverability is estimated using empirical formulas—mainly analytical methods—rather than costly [...] Read more.

Most fishing vessels are less than 100 m in length between the perpendiculars, for which adherence to the International Maritime Organization maneuverability standards are not mandatory. In the design stage of fishing vessels, maneuverability is estimated using empirical formulas—mainly analytical methods—rather than costly and time-consuming model tests. However, the empirical formula is developed through the process of regression analysis on the model test results from merchant ships’ hull form and applying the same to the fishing vessels’ hull form may result in an estimation error due to the differences in the vessels’ characteristics—e.g.,

L / B

,

B / d

and

C_{b} \cdot B / L

—. In a previous study, the authors of this paper derived a modified empirical formula by adding the hull form parameters of trawl fishing vessels to the existing empirical formula based on those of merchant ships. This study analyzes the validity of the modified empirical formula in depth by applying it to a newly-built training vessel that has the hull form of a trawl fishing vessel. As a result of the study, the estimation results were improved by including the parameters of the hull form of trawl fishing vessels in the empirical formula developed for merchant ships. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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16 pages, 621 KiB

Open AccessFeature PaperArticle

Observer-Based Autopilot Heading Finite-Time Control Design for Intelligent Ship with Prescribed Performance

by Liyan Zhu and Tieshan Li

J. Mar. Sci. Eng. 2021, 9(8), 828; https://doi.org/10.3390/jmse9080828 - 30 Jul 2021

Cited by 4 | Viewed by 2118

Abstract

Traffic engineering control is a major challenge in marine transportation. Cost efficiency and high performance demand advanced technologies for the ship control systems. This paper develops an autopilot heading control scheme based on a fuzzy state observer for an intelligent ship on this [...] Read more.

Traffic engineering control is a major challenge in marine transportation. Cost efficiency and high performance demand advanced technologies for the ship control systems. This paper develops an autopilot heading control scheme based on a fuzzy state observer for an intelligent ship on this subject to track the prescribed function while calling for performance limitation and order execution time. A fuzzy logic system (FLS) is adopted to approximate the unknown uncertainties caused by the changes in water depth, wind, wave, ship loading, and speed in navigation. State observer is required to obtain unknown yaw rate. By adopting performance function and tracking error transformation techniques, the heading tracking error can converge to prescribed performance bounds. Taking settling time into account, the finite-time adaptive prescribed performance control algorithm can save more resources effectively. Based on the Lyapunov stability theory, the observer-based adaptive fuzzy control approach does not cause any unbounded signal, the system remains stable. Meanwhile, the autopilot heading control system with an unknown yaw rate and constraint state can benefit from the given design. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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35 pages, 6219 KiB

Open AccessArticle

Assessment of the Manoeuvrability Characteristics of a Twin Shaft Naval Vessel Using an Open-Source CFD Code

by Andrea Franceschi, Benedetto Piaggio, Roberto Tonelli, Diego Villa and Michele Viviani

J. Mar. Sci. Eng. 2021, 9(6), 665; https://doi.org/10.3390/jmse9060665 - 16 Jun 2021

Cited by 19 | Viewed by 2686

Abstract

The purpose of this study is to assess the quality of the manoeuvre prediction of a twin-shaft naval vessel by means of a time-domain simulator based on Computational Fluid Dynamics (CFD) hydrodynamic coefficients. The simulator uses a modular approach in which the hull, [...] Read more.

The purpose of this study is to assess the quality of the manoeuvre prediction of a twin-shaft naval vessel by means of a time-domain simulator based on Computational Fluid Dynamics (CFD) hydrodynamic coefficients. The simulator uses a modular approach in which the hull, rudders, appendices and propellers are based on different mathematical models. The hydrodynamic coefficients of the hull in the bare and appended configurations are computed using virtual captive tests performed with an open-source CFD code: OpenFoam. This paper demonstrates that the application of the CFD hydrodynamic coefficients led to a good estimate of the macroscopic characteristics of the main IMO manoeuvres with respect to the experimental measures. The adopted test case is the DTMB 5415M frigate both with and without appendages. This test case has been investigated in several research studies and international benchmark workshops, such as SIMMAN 2008, SIMMAN 2014 and many CFD workgroups. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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24 pages, 8315 KiB

Open AccessArticle

Towfish Attitude Control: A Consideration of Towing Point, Center of Gravity, and Towing Speed

by Min-Kyu Kim, Dong-Jin Park, Yeong-Seok Oh, Jong-Hwa Kim and Jin-Kyu Choi

J. Mar. Sci. Eng. 2021, 9(6), 641; https://doi.org/10.3390/jmse9060641 - 09 Jun 2021

Cited by 2 | Viewed by 2818

Abstract

This paper deals with the attitude control of a towfish (underwater towed vehicle) with two elevators and a single rudder to improve the image quality of an attached sound navigation ranging (sonar) system. Image distortion can occur if the towfish shakes excessively. Since [...] Read more.

This paper deals with the attitude control of a towfish (underwater towed vehicle) with two elevators and a single rudder to improve the image quality of an attached sound navigation ranging (sonar) system. Image distortion can occur if the towfish shakes excessively. Since a towfish is connected to the mother ship through a towing cable and the motion of the towfish is affected not only by the motion of the cable, but also by the position of the center of gravity, towing point, and towing speed, it is necessary to analyze how these factors affect the towfish to appropriately control its attitude. In this study, a method for obtaining a feasible region of the towing point in accordance with the variations in the center of gravity and towing speed is proposed, and the feasible region obtained can ensure that pitch control can be achieved using the installed elevators. In addition, the allowable range of disturbances for yaw control was also investigated. Simulations were conducted using the dynamic models of the towfish and cable to check the obtained feasible region/range, and it was confirmed that there is a region/range where the attitude control can be carried out with relative ease. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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18 pages, 3359 KiB

Open AccessFeature PaperArticle

Locally Weighted Non-Parametric Modeling of Ship Maneuvering Motion Based on Sparse Gaussian Process

by Zhao Zhang and Junsheng Ren

J. Mar. Sci. Eng. 2021, 9(6), 606; https://doi.org/10.3390/jmse9060606 - 01 Jun 2021

Cited by 8 | Viewed by 2261

Abstract

This paper explores a fast and efficient method for identifying and modeling ship maneuvering motion, and conducts a comprehensive experiment. Through the ship maneuvering test, the dynamics interaction between ship and the environment is obtained. Then, the LWL (Locally Weighted Learning algorithm) underlying [...] Read more.

This paper explores a fast and efficient method for identifying and modeling ship maneuvering motion, and conducts a comprehensive experiment. Through the ship maneuvering test, the dynamics interaction between ship and the environment is obtained. Then, the LWL (Locally Weighted Learning algorithm) underlying architecture is constructed by sparse Gaussian Process to reduce the data requirements of LWL-based ship maneuvering motion modeling and to improve the performance for LWL. On this basis, a non-parametric model of ship maneuvering motion is established based on the locally weighted sparse Gaussian Process, and the traditional mathematical model of ship maneuvering motion is replaced by the generative model. This generative model considers the hydrodynamic effects of ships, and reduces the sensitivity of local weighted learning to sample data. In addition, matrix operations are transferred to the auxiliary platform to optimize the calculation performance of the method. Finally, the simulation results of ship maneuvering motion indicate that this method has the characteristics of efficiency, rapidity and universality, and its accuracy conforms to engineering practice. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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15 pages, 3650 KiB

Open AccessArticle

L2-Gain-Based Practical Stabilization of an Underactuated Surface Vessel

by Weilin Luo and Xin Qi

J. Mar. Sci. Eng. 2021, 9(3), 341; https://doi.org/10.3390/jmse9030341 - 19 Mar 2021

Cited by 7 | Viewed by 1685

Abstract

To obtain a stabilizer for an underactuated surface vessel with disturbances, an L2-gain design is proposed. Surge, sway, and yaw motions are considered in the dynamics of a surface ship. To ob-tain a robust adaptive controller, a diffeomorphism transformation and the Lyapunov function [...] Read more.

To obtain a stabilizer for an underactuated surface vessel with disturbances, an L2-gain design is proposed. Surge, sway, and yaw motions are considered in the dynamics of a surface ship. To ob-tain a robust adaptive controller, a diffeomorphism transformation and the Lyapunov function are employed in controller design. Two auxiliary controllers are introduced for an equivalent sys-tem after the diffeomorphism transformation. Different from the commonly used disturbance ob-server-based approach, the L2-gain design is used to suppress random uncertain disturbances in ship dynamics. To evaluate the controller performance in suppressing disturbances, two error sig-nals are defined in which the variables to be stabilized are incorporated. Both time-invariant dis-continuous and continuous feedback laws are proposed to obtain the control system. Stability analysis and simulation results demonstrate the validity of the controllers proposed. A comparison with a sliding mode controller is performed, and the results prove the advantage of the proposed controller in terms of faster convergence rate and chattering avoidance. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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18 pages, 8840 KiB

Open AccessArticle

An Integrated Dynamic Model and Optimized Fuzzy Controller for Path Tracking of Deep-Sea Mining Vehicle

by Yu Dai, Cong Xue and Qiao Su

J. Mar. Sci. Eng. 2021, 9(3), 249; https://doi.org/10.3390/jmse9030249 - 26 Feb 2021

Cited by 18 | Viewed by 2007

Abstract

The capability of path tracking largely determines the operational efficiency of deep-sea mining vehicles. In this paper, the relationships of vehicle–sediment mechanical interaction were obtained by sinkage and shear tests. Then, an overset grid method was used to establish the computational fluid dynamics [...] Read more.

The capability of path tracking largely determines the operational efficiency of deep-sea mining vehicles. In this paper, the relationships of vehicle–sediment mechanical interaction were obtained by sinkage and shear tests. Then, an overset grid method was used to establish the computational fluid dynamics (CFD) model of the vehicle, and the spatial hydrodynamic distribution was calculated in different motion states. Based on the above research, a multi-body dynamic (MBD) model of the mining vehicle was developed, which considered the spatial hydrodynamic effects and the mechanical interaction between vehicle and sediment. In addition, a path-tracking controller based on fuzzy logic control was proposed. A genetic algorithm optimized the fuzzy rules through co-simulation between the controller and the MBD model. Finally, the co-simulation results of the vehicle which moved along the expected path indicated that the performance of the optimized fuzzy controller was preferable to the original fuzzy controller. Full article

(This article belongs to the Special Issue Manoeuvring and Control of Ships and Other Marine Vehicles)

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