Abstract
ABSTRACT In this study, we investigate how natural environmental conditions affect a training vessel using a ‘mathematical model of wind and wave’ specific to Lake Silm near Kamionka, Poland. Wind and wave measurements on the lake were conducted. We present the vessel’s trajectory under varying conditions: navigating in restricted waters simulating port conditions with speed readings, and during propeller operation. The control system of the nonlinear autonomous object employed two controllers: a linear matrix inequality controller and an overriding trajectory controller. We assess the impact of nonlinearities in the measured waves. It is shown that the maximum entropy probability distribution conforms more closely to the empirical frequency histogram than the Gaussian distribution. The wave height probability distributions diverge from Rayleigh distributions, indicating slight nonlinear effects. These results enhance the mathematical model of Silm Lake’s wave dynamics.
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