Design of the steering controller of a supertanker using linear quadratic control theory: A feasibility study

Abstract

Linear quadratic regulator (LQR) techniques are applied to the design of the steering controller of a supertanker. A performance criterion representative of propulsion losses related to steering is used as a basis for the design of controllers for course keeping in open seas. The effect of variation of relative weightings in the performance criterion on controller performance when subjected to the seaway environment is examined using sensitivity analyses and simulation studies. The results suggest the possibility of effecting substantial propulsion savings without sacrificing controllability, using LQR techniques.