Selected News

Presenting at SMM2018 about „Predictive and automated ship guidance and motion control”

Sep 13, 2018

Please check out the press announcement (in German) of Kiel University concerning our participation at the Maritime Research Forum organized by the Deutsches Maritimes Zentrum during the SMM2018 in Hamburg: https://www.uni-kiel.de/de/universitaet/detailansicht/news/dynamik-in-der-autonomen-schifffahrt/

The english summary of our contribution „Predictive and automated ship guidance and motion control” is provided below: 

Predictive guidance and motion control is developed for the operation and the maneuvering of autonomous vessels in constrained calm waters such as harbors. Based on a mathematical model of the ship dynamics a dynamic optimal control problem is formulated and solved that enables us to address the time optimal, the economic or the energy optimal motion of the vessel. Maneuvers include landing, take off and evasion in constrained environments. In addition to constraints on the propulsion and the rudder static and dynamically moving obstacles representing other vessels operating in the same area are explicitly taken into account. To be able to adjust in real-time to changes in the environment, e.g., by means of emerging or vanishing obstacles, the optimal control problem is solved on a receding time horizon, which allows us to include online information into the solution of the guidance and motion control problem. Different approaches are evaluated and compared to achieve a real-time solution of the receding horizon optimal control problem, which is crucial in view of the implementation of the resulting algorithms. For the evaluation of the approach various simulation studies are performed for challenging guidance and motion control scenarios. This includes the consideration of static and moving obstacles as well as disturbances by means of wind, gust or current.

 

All submissions for the 2018 IEEE Conference on Decision and Control (CDC) accepted!

Jul 14, 2018

We are happy to announce that all our submissions for the 2018 IEEE Conference on Decision and Control (CDC) have been accepted: 

  • T. Meurer and J. Andrej: Flatness-based model predictive control of linear diffusion-convection-reaction processes
  • P. Jerono, A. Schaum and T. Meurer: Observer design for the Droop model with biased measurement: Application to Haematococcus pluvialis
  • B. Biedermann, P. Rosenzweig and T. Meurer: Passivity-based observer design for state affine systems using interconnection and damping assignment

Received Best Interactive Paper Prize at the IFAC World Congress 2017

Jul 16, 2017

We are very happy to announce that we have been awarded the IFAC Congress Best Interactive Paper Prize at the 2017 IFAC World Congress in Toulouse. Our contribution

Robust adaptive output-feedback tracking control for microalgae cultures by Alexander Schaum, Henning Weisbarth and Thomas Meurer

was thereby selected from 612 papers that were presented in the Interactive Paper category.

In the paper a feedforward-feedback control strategy for trajectory tracking of microalgae cultures is developed and experimentally evaluated. On the basis of the Droop model, an inversion-based feedforward control is determined which steers the biomass from given initial to final values in a finite, prescribed time. Model-free feedback control is employed for disturbance resiliance and improving the stability properties of the desired trajectory. The approach is evaluated using numerical simulations and experiments in a lab-scale photocatalytic reactor with Chlorella sorokiniana.

Remark

This project was partly supported by the Cluster of Excellence ”The Future Ocean”. The ”Future Ocean” is funded within the framework of the Excellence Initiative by the Deutsche Forschungsgemeinschaft (DFG) on behalf of the German federal and state governments.

Research