Ship motion control based on AMBPS-PID algorithm

Le Wang, Qing Wu, Jialun Liu, Shijie Li, Rudy Negenborn

Research output: Contribution to journalArticleScientificpeer-review

5 Citations (Scopus)
47 Downloads (Pure)


Intelligent motion control is one of the key technologies of ships. This paper studies the application of Adaptive Mutation Beetle Particle Swarm (AMBPS)-PID algorithm in ship motion control. Firstly, the ship MMG model is established. Then the BAS algorithm is introduced, and AMBPS algorithm is improved and designed on this basis. Secondly, ship heading and path following controllers are designed according to the algorithm, and rudder turning rate constraint is introduced to limit the rudder angle. Thirdly, through the test function effect analysis of AMBPS and other similar algorithms, the improved effect of this algorithm is verified. Finally, from manual tuning PID parameters to off-line and on-line optimizing parameters based on AMBPS algorithm, the optimal control parameters are obtained step by step, and the optimal heading and path following simulation results are achieved. Compared with the results of traditional PID, AMBPS-PID algorithm has a better adaptive control effect on ship motion control, reduces the error of manual tuning parameters and improves efficiency.
Original languageEnglish
Pages (from-to)183656-183671
JournalIEEE Access
Publication statusPublished - 2019


  • Motion control
  • heading control
  • path following
  • AMBPS-PID algorithm


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