Nonlinear Modeling and Identification of vessel based on constrained quadratic programming method

In this research work, a vessel is used as a case study to investigate modeling and system identification. The discrete nonlinear 3-DOF state-space model with surge speed, lateral speed and yaw angle as state variables is established. A constrained quadratic programming method is proposed in this paper to identify parameters of nonlinear model, the steady-state data of vessel motions are the constraints and the transient-state data of vessel motions are used as training data to solve quadratic programming problem. The simulation results demonstrate the effectiveness of the method presented in this paper.