Abstract
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 with three different tankers are presented. The autopilots are shown to work excellently under different load, speed, and weather conditions.
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