An adaptive path control system for a surface ship is reviewed. The prescribed path is restricted to straightline segments which typically extend between isolated turns. Linear ship characteristics are utilized. The system consists of an inner or control loop, which would operate alternately with an open-loop control signal, and an outer or gain update loop. The control loop consists of a steady-state Kalman-Bucy filter and a steady-state optimal controller. Brownian motion disturbance models are utilized to produce a control law with needed integral control properties. The transient response of the controller can be maintained near optimal if the gains are adapted for changes in only two of the ship parameters. The outer loop consists of a recursive minimum variance parameter estimator and a gain update algorithm which could be activated periodically or as the need indicates. The open loop control signal is necessary to excite the system to a level which will permit the estimation of the needed parameters.
An adaptive surface ship path control system
Eine adaptive Schiffsteuerung
1981
6 Seiten, 6 Bilder, 1 Tabelle, 26 Quellen
Conference paper
English
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