Maritime Autonomous Surface Ships in Use with LMI and Overriding Trajectory Controller

Round 1

Reviewer 1 Report

1.The format of diagrams, tables and references in the paper needs to be standardized.

2.Several experimental scenarios should be designed to analyze and compare the reliability of the proposed method.

 

Author Response

Dear Reviewer

Thank you very much for your guidance and comments. Of course, I have corrected the references, and the drawings and their captions.

ad. 1) Changed according to comments

ad. 2) The maneuver that was presented is one scenario that is fully recorded. According to us, it confirmed the autonomous control of the ship. Of course, more maneuvers will be performed in the next season. Currently, from the Foundation, we no longer have the physical ability to perform further maneuvers, because as a team we book a date at the beginning of the year. This year we were able to complete the research in July. The next verification date is 2023. This research was very important and we decided to show one long maneuver (consisting of 13 points). Following your Prof.'s comments, we added registration of thruster operation to further prove the ship's independent operation, without human intervention, based on our proposal of control algorithms and reading of GPS and gyrocompass data.  

 

Best regards

 

 

Author Response File: Author Response.pdf

Reviewer 2 Report

Generally, this paper is interesting and well-written in the presentation. However, there are still some issues to be clarified and enhanced.

1. The innovation of this work claimed in the abstract is somewhat vague, and can be highlighted.

2. The motivation is unclear due to lack of closely related works, such as IEEE TVT, 2022, 71(3): 2358-2374; IEEE/ASME TMech, 2021, 26(6): 3198-3210.

3. There are many Assumptions, which should be clearly explained for reasonal.

4. How to ensure the requirements for Theorem 1 should also be provided.

5. Simulations can be made much more informative for validations.

 

Author Response

Dear reviewer

I'am thank you for your comments this is very important to may research

Please check my answear

ad. 1)  Add in abstract:

The automation is divided into two parts. The master trajectory controller converts the ship's position and course into small velocities, which, with the help of the LMI controller through an allocation system, control the operation of the ship's propellers.  

ad. 2) Indeed, it is worth adding the sources mentioned, they are very interesting and worth mentioning (this was done)

ad. 3) Yes it is true, but the article is already 19 pages the moment of clarification of assumptions can significantly lengthen the article, with some of them are explained in the sources (Rybczak and Gierusz and Duan)

ad.4) I write this answear in txt (line 138) Theorem 1 has 3 conditions in the paper uses condition 2 and makes use of the yalmip \cite{wwwYalmip} and SeDuMi \cite{wwwSedumi} library.

ad. 5) Thank you for this information. I added the text of line 244 - 249 and 257-262 and the diagrams of the ship's thrusters, which are important when verifying the experiment, show the veracity of the system's work.

If necessary, please comment I will complete the data.

Best regards

Author Response File: Author Response.pdf

Round 2

Reviewer 2 Report

This version can be accepted.