Robust optimal control of a nonlinear surface vessel model with parametric uncertainties

This paper presents a fast alternative optimization method for developing reliable optimal controller that can handle system model parameter uncertainties. The source of uncertainty in this study is identified as hydrodynamic coefficients, which are prone to errors due the challenges involved obtaining accurate values. proposed utilizes complex nonlinear ship provided by Maneuver Modelling Group (MMG) reference motion model. process divided into two stages: blind search followed bisection optimization, obtain robust controller. To demonstrate effectiveness approach, response analysis and practical tests were performed on Step, M-Turn, Doublet maneuvers. results show parameters obtained from capable achieving high success rates controlling with uncertain parameters.