This paper has addressed the problem of designing the ship track-keeping controller. Two autopilots have been presented, namely a linear quadratic output feedback controller and a robust cascade controller. In both of them, the rudder has been used as the only control actuator. The feedback controller has been designed to minimize the quadratic cost function. The robust autopilot has been designed using the mixed (heuristic and Hinfinity) techniques. The experiments have been carried out with the physical model of a tanker and the measurement system prepared for the research on the Silm Lake. The results show the efficiency and main qualities of both autopilots.


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    Title :

    Ship track-keeping: experiments with a physical tanker model


    Additional title:

    Schiffsnavigation: Experimente mit einem physikalischen Tankermodell


    Contributors:
    Morawski, L. (author) / Pomirski, J. (author)

    Published in:

    Publication date :

    1998


    Size :

    7 Seiten, 12 Bilder, 8 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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    Adaptive fuzzy ship autopilot for track-keeping

    Velagic, J. / Vukic, Z. / Omerdic, E. | Tema Archive | 2003



    Experiments with tanker models

    Edstrand, H. / Freimanis, E. / Lindgren, H. | Engineering Index Backfile | 1954