MODELING THE MOTION DYNAMICS OF AN AUTONOMOUS MARITIME VESSEL WITH ADAPTIVE COURSE STABILIZATION UNDER STOCHASTIC ENVIRONMENTAL DISTURBANCES

Abstract

In the current conditions of digital transformation of maritime transportation, interest in autonomous vessels capable of operating without constant operator intervention is rapidly growing. This necessitates the creation of accurate mathematical models that would reflect the influence of a variable marine environment on the dynamics of an autonomous vessel. A comprehensive analysis of such motion is investigated, considering wind loads, currents, waves, and adaptive control, which is a key step in ensuring the vessel’s safe, energy-efficient, and stable movement along the planned course. As part of this work, a computational approach was developed that integrates dynamics equations with modern simulation modeling methods. The model allows predicting the ship’s behavior in actual sea conditions and evaluating the effectiveness of navigation strategies in motion stability disturbances. The article also presents a mathematical model of the motion of a marine surface autonomous vessel in the horizontal plane, considering the effects of hydrodynamic, aerodynamic, stochastic, and controllable factors. The model is formalized based on the Newton-Euler equations and implemented in MATLAB/Simulink. Particular attention is also paid to the influence of wind, currents, waves, and the implementation of a PID controller with adaptive thrust. The applied model allows the prediction of the ship’s behavior in real sea conditions and the evaluation of the effectiveness of navigation strategies in cases of motion stability disturbance. Simulation studies of ship motion scenarios in the presence of external disturbances were carried out, which made it possible to visualize changes in course, transverse speed, and trajectory. The obtained results demonstrate the effectiveness of the implemented control algorithm, which reduces the navigation error and improves the stability of motion. The proposed approach extends the theoretical and provides an analytical basis for creating digital twins of autonomous marine vessels and developing navigation control systems in challenging sea conditions.