Methods of Inverse Simulation for Nonlinear Ship Steering Systems Investigations

Scalable nonlinear dynamical systems for agent steering and crowd simulation

We present a new methodology for agent modeling that is scalable and efficient. It is based on the integration of nonlinear dynamical systems and kinetic data structures. The method consists of three-layers, which together model 3D agent steering, crowds and flocks among moving and static obstacles. The first layer, the local layer employs nonlinear dynamical systems theory to models low-level ...

ABS methods for nonlinear systems of algebraic equations

 Abstract    This paper gives a survey of the theory and practice of nonlinear ABS methods including various types of generalizations and computer testing. We also show three applications to special problems, two of which are new.

Ship Steering

Steering exact penalty methods for nonlinear programming

This paper reviews, extends and analyzes a new class of penalty methods for nonlinear optimization. These methods adjust the penalty parameter dynamically; by controlling the degree of linear feasibility achieved at every iteration, they promote balanced progress toward optimality and feasibility. In contrast with classical approaches, the choice of the penalty parameter ceases to be a heuristi...

Adaptive Robust Backstepping Nonlinear Algorithm Applied to Ship Steering

An adaptive robust nonlinear steering controller for ship’s course is developed. Incorporating the Nussbaum-type function gain and adaptive backstepping algorithm, the proposed control strategy requires neither known dynamic parameters of a ship’s model nor any knowledge about environmental disturbances. It is proved that the designed adaptive robust controller of ship steering can guarantee th...