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.
Ship track-keeping: experiments with a physical tanker model
Schiffsnavigation: Experimente mit einem physikalischen Tankermodell
Control Engineering Practice ; 6 , 6 ; 763-769
1998
7 Seiten, 12 Bilder, 8 Quellen
Article (Journal)
English
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