A generalized predictive controller for ship's steering is introduced. The parameters of the controller can be online adjusted based on some intelligent rules according to the heading error and the differential of the heading error. A recursive algorithm, which is based on the matrix disintegration, is used for matrix inversion; it needs as one third execution time as that of the general algorithm. Simulating results show that the intelligent controller can offset the effects of low frequency disturbances such as wind and current, follow the reference course and track quickly and accurately, and have good transient and steady state performances.
An intelligent generalized predictive controller for ship steering
Ein intelligenter verallgemeinerter prädiktiver Regler für die Schiffsteuerung
2009
6 Seiten, 3 Bilder, 1 Tabelle, 9 Quellen
Aufsatz (Konferenz)
Englisch
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