Abstract
Good nonlinear maneuvering models, including numerical values, for control of ships are hard to find. This paper presents a complete modeling, identification, and control design for maneuvering a ship along a desired path. A variety of references have been applied to describe the ship model, its difficulties, limitations, and possible simplifications for the purpose of automatic control design. The numerical values of the parameters in the model are identified in towing tests and adaptive maneuvering experiments for a scaled model ship in a marine control laboratory.
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