Abstract
A Track Autopilot Predictor (TAP) system for high speed craft with waterjet propulsion systems has been developed and installed onboard four catamarans. The TAP system includes automatic control modes for steady state course keeping, turning and track-keeping. A special harbour mode and a hydrodynamic predictor based on a non-linear manoeuvring model of the ship are also included. The paper describes the design of the control algorithms used in the autopilot and track-keeping systems. The design is based on a combination of velocity scheduling, pole placement and a feedforward model for turning. The performance of the algorithms is illustrated in full-scale experiments.
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