Robust optimal control of a nonlinear surface vessel model with parametric uncertainties

Ahmad Irham Jambak, Ismail Bayezit*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper presents a fast alternative optimization method for developing a reliable optimal controller that can handle system model parameter uncertainties. The source of uncertainty in this study is identified as hydrodynamic coefficients, which are prone to errors due to the challenges involved in obtaining accurate values. The proposed optimization method utilizes a complex nonlinear ship model provided by Maneuver Modelling Group (MMG) as the reference for the ship motion model. The optimization process is divided into two stages: a blind search followed by bisection optimization, to obtain a robust optimal controller. To demonstrate the effectiveness of the proposed approach, system response analysis and practical tests were performed on Step, M-Turn, and Doublet maneuvers. The results show that the controller parameters obtained from the proposed optimization method are capable of achieving high success rates in controlling a system with uncertain parameters.

Original languageEnglish
Pages (from-to)131-143
Number of pages13
Issue number3
Publication statusPublished - 1 Jun 2023

Bibliographical note

Publisher Copyright:
© 2023, University of Zagreb Faculty of Mechanical Engineering and Naval Architecture. All rights reserved.


This project was financially supported by Istanbul Technical University (ITU) Scientific Research Projects Coordination Unit Research Fund with Project ID: ITUBAP 44863.

FundersFunder number
Istanbul Teknik ÜniversitesiITUBAP 44863


    • autonomous surface vessel, autonomous marine vehicle
    • optimal control
    • optimization
    • parametric uncertainty
    • robust control


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