Abstract
This paper describes the design of an adaptive autopilot for a containership. Well-known results of linear adaptive theory are extended through the use of neural network to the case where the plant dynamics are described by a set of non-linear equations. The desired behaviour of the containership during course-changing manoeuvre is defined by the response of a reference model. Using an indirect approach, the controller parameters are adjusted based on the definition of an estimation error. The proposed adaptive controller is tested by a simulation study based on a non-linear model, describing the dynamics of a containership in four degrees of freedom. In order to take into account the wave effects, a stochastic model of the ship wave-induced motion is considered. Shallow water effect is also considered by changing some of the hydrodynamics parameters. Copyright © 2000 John Wiley & Sons, Ltd.
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