Towards the Testing and Validation of Autonomous Ships: Design of a Variable Stability Ship Control System

Abstract

Maritime autonomous surface ships (MASSs) have received increased attention in both academic research and industrial applications in the global shipping and shipbuilding industry in recent years. According to its definition, a MASS can independently operate without human interaction. This brings the problem of how to test and evaluate the capabilities of the autonomous navigation control system developed for MASS. This paper proposes the novel concept of a variable stability ship and the design of its control system. A variable stability ship consists of a model-scaled ship, a model-following controller, and a hardware and software platform to implement its functions. The variable stability ship can replicate the dynamic responses of different reference ships despite their dissimilarities in physical parameters and hydrodynamic characteristics with the design of the model-following controller. Therefore, it can be used to test the performance of different control strategies on various ship types such that the R&D costs of physical model-based tests can be reduced, as well as shortening the time spent in developing physical ship models. Preliminary simulations are carried out to show its effectiveness and applicability.

Keywords

• autonomous ships
• variable stability ship
• testing and validation
• sliding mode control