Nonlinear Stability Analysis of ShipAutopilots in Sway , Roll and Yaw
نویسنده
چکیده
Combined heading control and rudder-roll damping systems are diicult to analyze due to the complexity of the mathematical model required to describe the nonlinear couplings in sway, roll and yaw. Except for linear systems, no theoretical results with regard to robustness have been presented. In a linear analysis important nonlinear eeects due to rigid-body dynamics, hydrodynamics and kinematics are neglected. This paper is a rst attempt to analyze the sway{roll{yaw couplings for ships by applying the nonlinear stability theory of Isidori (1989). This is done for the linear and nonlinear ship models of Son and Nomoto (1981, 1982).minimum phase systems.
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