An Investigation on Broaching-to Prevention UsingGlobal Optimal Control (CMA-ES): Effect and Mechanism of Broaching-to Prevention

摘要

Broaching-to is a phenomenon in which a ship cannotmaintain a constant course despite maximum steering effort. Inmost of the experiments and numerical simulations carried outrelated to broaching, the PD control has been utilized. However,in order to realize the concept of the maximum steering effortin broaching, the control system can be improved using theoptimal control strategies.