A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship

A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship

Complete nonlinear dynamic manoeuvering models of ships, with numerical values, are hard to find in the literature. This paper presents a modeling, identification, and control design where the objective is to manoeuver a ship along desired paths at different velocities. Material from a variety of references have been used to describe the ship model, its difficulties, limitations, and possible s...

Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory

The maneuvering problem involves two tasks. The first, called the geometric task, is to force the system output to converge to a desired path continuously parametrized by a scalar θ. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. In this paper, this dynamic behavior is further specified as a speed assignment for θ(t). While the main concern is...

Model identification and dynamic analysis of ship propulsion shaft lines

Dynamic response analysis of mechanical structures is usually performed by adopting numerical/analytical models. Finite element (FE) modeling as a numerical approach plays an important role in dynamic response analysis of complex structures. The calculated dynamic responses from FE analysis are only reliable if accurate FE models are used. There are many elements in real mechanical structures w...

Model-scale experiments of symmetric ship collisions

A Multiple Model Adaptive Wave Filter for Dynamic Ship Positioning

This paper addresses a filtering problem that arises in the design of dynamic positioning systems for ships subjected to the influence of sea waves. Its key contribution is the use of a multiple model adaptive wave filter that relies on measurements of the ship’s position and heading only. To this effect, a bank of Kalman filters is designed for a finite number of parameter values, each corresp...