System identification methods are applied to determine ship steering dynamics from full scale experiments. The techniques used include output error and more general prediction error methods. The experiments were performed both under open loop and closed loop conditions. Both linear and nonlinear models are considered. Two adaptive autopilots for ships are designed. The autopilots are based on velocity scheduling, a self-tuning regulator for steady state course keeping, a high gain turning regulator with variable structure, and a Kalman filter. Methods for design of the autopilots are discussed. Results from simulations and full scale experiments are presented.
Identification and Adaptive Control Applied to Ship Steering
1982
191 pages
Report
No indication
English
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