A heuristic stochastic rudder control law for ship automatic path-following in restricted waters is presented. The objective is to make feasible an automatic pilot with an adaptive capacity of operating in situations where there is a great lack of knowledge of ship dynamics. State estimation and feedback control determination are separately treated. The extended Kalman filter is combined with a dynamical model compensation technique and a state noise adjustment procedure, in a situation where the observations have a high local level of information. An adaptive scheme results where unmodeled effects are estimated together with the system state. A feedback control law that uses state estimation information and steering conditions is proposed. In each discretization interval it takes a stepwise approximation for the control, as the solution of a parameter estimation problem. The performance of the resulting state estimator and controller is illustrated by results obtained through digital simulation. The test case selected is that of ship automatically steering in a channel under severe geometric and environmental conditions.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A stochastic rudder control law for ship path-following autopilots


    Additional title:

    Ein stochastisches Steuerungsgesetz fuer einen dem Schiffsweg folgenden Autopiloten


    Contributors:

    Published in:

    Automatica, Oxford ; 21 , 4 ; 371-384


    Publication date :

    1985


    Size :

    14 Seiten, 13 Bilder, 21 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    SHIP RUDDER

    ITO MITSUHARU | European Patent Office | 2023

    Free access

    SHIP RUDDER

    IKEDA YOSHIHO / HIGAKI YUKITO | European Patent Office | 2017

    Free access

    SHIP RUDDER

    MAKINO KOJI / MASUDA SEIJI / FUJISAWA TAKEHARU et al. | European Patent Office | 2017

    Free access

    SHIP RUDDER

    ARII TOSHIHIKO / HOSOGAYA KAZUYOSHI / TOMITA KAZUSHI | European Patent Office | 2015

    Free access