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On broaching-to prevention using optimal control theory with evolution strategy (CMA-ES)

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Abstract

Broaching-to, an uncontrollable maneuvering problem that may occur in following and quartering seas, can induce large roll motion and sometimes capsizing due to violent yaw motions, e.g., Nicholson (Some Parametric Model Experiment to Investigate Broaching-to, pp 160–166, 1974). Broaching-to arises when a ship cannot maintain its desired course even under maximum steering effort. Previous experiments and numerical simulations of the broaching-to phenomenon have applied proportional-derivative (PD) control, which cannot provide the maximum steering effort. To maximize the steering effort, the previous study replaced PD control by optimal control theory by Maki et al. (J Jpn Soc Nav Archit Ocean Eng 7:207–212, 2008) and Maki et al. (J Jpn Soc Nav Archit Ocean Eng 8:115–122, 2008). A case of the ship control, when the ship developed large yaw motions despite the optimal control, was observed. However, because optimization techniques such as the variational method were insufficiently powerful for solving this highly nonlinear problem, the optimization could be performed only around local optima. The aim is to globally seek a better local solution among the numerous local optima. To achieve this goal, the authors applied the Covariance Matrix Adaption Evolution Strategy (CMA-ES), a state-of-the-art algorithm in evolutionary computation for derivative-free continuous optimization. The optimal rudder control for preventing broaching-to is then obtained, and its characteristics are discussed.

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Acknowledgements

This work was supported by a Grant-in-Aid for Scientific Research from the Japan Society for Promotion of Science (JSPS KAKENHI Grant number 19H02360). The authors would like to thank Enago (www.enago.jp) for the English language review.

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Authors and Affiliations

  1. Department of Naval Architecture and Ocean Engineering, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka, 565-0971, Japan

    Atsuo Maki, Yuki Banno, Sreenath Maniyappan & Naoya Umeda

  2. Department of Computer Science, Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki, 305-8573, Japan

    Naoki Sakamoto

  3. Faculty of Engineering, Information and Systems, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki, 305-8573, Japan

    Youhei Akimoto

  4. RIKEN Center for Advanced Intelligence Project, Nihonbashi 1-chome Mitsui Building, 15th floor, 1-4-1 Nihonbashi, Chuo-ku, Tokyo, 103-0027, Japan

    Youhei Akimoto

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  1. Atsuo Maki
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  2. Naoki Sakamoto
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  3. Youhei Akimoto
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  4. Yuki Banno
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  5. Sreenath Maniyappan
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  6. Naoya Umeda
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Correspondence to Atsuo Maki.

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Maki, A., Sakamoto, N., Akimoto, Y. et al. On broaching-to prevention using optimal control theory with evolution strategy (CMA-ES). J Mar Sci Technol 26, 71–87 (2021). https://doi.org/10.1007/s00773-020-00722-9

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  • DOI: https://doi.org/10.1007/s00773-020-00722-9

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