منابع مشابه
Robust Adaptive Ship Autopilot with Wave Filter and Integral Action
SUMMARY A stable minimum phase transfer function from rudder angle to yaw angle is used to design a globally convergent adaptive ship autopilot. 1st-order wave disturbances in yaw are ltered by applying a notch lter. Integral action is introduced by augmenting the plant. Global convergence is proven for the total system which include the observer, the parameter update law, the feedback controll...
متن کاملHigh Performance Ship Autopilot With Wave FilterThor
This paper describes the application of Lyapunov stability theory to automatic steering of ships. The motivation for using nonlinear control theory is that nonlinearities can be compensated for in a systematic manner. For instance, this allows the designer to design the autopilot system for a ship described by the nonlinear models of Norrbin (1963) and Bech and Wagner Smith (1969) both utilizin...
متن کاملA 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...
متن کاملNonlinear controller design of a ship autopilot
The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot syste...
متن کاملExperimental Results of Supply Ship Autopilot Optimisation Using Genetic Algorithms
The optimisation by Genetic Algorithm (GA) of a non-linear autopilot for ship course changing is studied in this paper. The theory of the optimisation technique is presented from its basis in Darwinian evolution to the development of the form of optimisation algorithm used in the application. This application involves a Sliding Mode (SM) controller for use as a course changing autopilot for a s...
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ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 1983
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.1983.1.3