|
| Title: | Robust vessel maneuvering modelling using set-membership identification | | | Authors: | A. Dhyani, A. Tsolakis, K. van der El, R.R. Negenborn, V. Reppa |
| | Conference: | 23rd IFAC World Congress (IFAC WC'26) | | Address: | Busan, Republic of Korea | | Date: | August 2026 |
| | Abstract: | System identification of full-scale surface vessels must address significant uncertainties arising from model mismatch, sensor noise, and environmental disturbances. The identified models are utilised for designing the guidance and control systems for autonomous navigation and simulation. To provide safety, robustness and constraint satisfaction guarantees, it is essential to quantify the bounds of model parametric uncertainty. This paper proposes a set-membership identification method for estimating key parameters of a nonlinear vessel maneuvering model, including inertia and added-mass terms, hydrodynamic derivatives, and actuation-related parameters. The method provides a bounded error characterisation of the uncertainties, offering a reliable framework for modelling the effects of measurement noise, wind and waves. In addition to point estimates, the approach yields a feasible parameter set that provably contains the true parameters. Validation using full-scale experimental data from a catamaran ferry demonstrates the method's accuracy and its capability to provide bounded parameter estimates. |
| | Reference: | Robust vessel maneuvering modelling using set-membership identification. A. Dhyani, A. Tsolakis, K. van der El, R.R. Negenborn, V. Reppa. Accepted for the 23rd IFAC World Congress (IFAC WC'26), Busan, Republic of Korea, August 2026. | | | Request: | A
copy of this publication. |
|
|
