Abstract The paper considers the problem of ship autopilot design based on Bech’s model of the vessel. Since the model is highly nonlinear and some of the state vector coordinates are unavailable, the control system synthesis is performed by means of an output feedback linearization method combined with a nonlinear observer. The asymptotic stability of the overall system has been proven, including the asymptotic stability of the system internal dynamics. The performed simulations of the ship course-changing process have confirmed a high performance of the proposed controller. It has been emphasized that for its practical usability the system robustification is necessary.


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    Titel :

    The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2015




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Unbekannt


    Klassifikation :

    BKL:    50.92 Meerestechnik / 55.40 Schiffstechnik, Schiffbau






    H~ - Based Ship Autopilot Design

    Grimble, M. J. / Zhang, Y. / Katebi, M. R. | British Library Conference Proceedings | 1993