An Application of Time-Optimal Control by Using Switching Surface

Abstract

The authors have previously proposed a design method of time-optimal feedback control system by using switching hypersurface. In the present paper, the proposed method is applied to construct the control system of the training ship Ohshimamaru 330 GT, and then the practical applicability is shown in the sea trial.The dynamics of a ship is presented by a complicated mathematical model with some nonlinear elements and dead time elements. To make the design of the dual mode controller tractable, the model of ship dynamics is simplified from the practical point of view. And dead time problem is evaded by making use of predictive control. In the simulated course changing control using the nonlinear mathematical model as a controlled object, it is confirmed that the time-optimal control is approximately realized, It is demonstrated that the proposed method is efective showing the resemblance of the results in the sea trial, with those in the simulation.