Thrust allocation based on improved global artificial fish swarm algorithm for the dynamic positioning system of vessels

摘要

The dynamic positioning (DP) system can keep the position and heading of a vessel by using the thrusters to resist the environmental disturbances. Thrust allocation is an important module of the DP system, and its performance will directly affect the control accuracy and system reliability. As an optimization algorithm with strong local search capability, artificial fish swam algorithm (AFSA) has great application prospects in the thrust allocation optimization of dynamic positioning systems. But the algorithm can easily fall into a local optimal value. In this paper, an improved global AFSA with jumping behavior and swallowing behavior is proposed to solve the aforementioned problem. Simulations are conducted to demonstrate that the proposed improved global AFSA can increase the probability to find the global optimal solution, and the convergence efficiency and the global searching ability of the algorithm can be improved.