Abstract
This paper describes the application of model reference adaptive control (MRAS) to automatic steering of ships. The main advantages in this case are the simplified controller adjustment which yields safer operation and the decreased fuel cost. After discussion of the mathematical models of process and disturbances, criteria for optimal steering are defined. Algorithms are given for direct adaptation of the controller gains, applicable after setpoint changes, as well as for identification and adaptive state estimation, to be used when the input is constant. Solutions for applying MRAS to a certain class of nonlinear systems are dealt with. Full-scale trials at sea and tests with a scale model in a towing tank are described. It is shown that the autopilot designed indeed has the desired properties. Fuel savings up to 5% in comparison to conventional PID control are demonstrated. These savings are mainly possible because of the adaptive state estimator.
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