古典的手法による非干渉化と自動着桟制御

Abstract

In this study, the authors propose a decoupling method by the classical technique using the transfer function, and present an automatic berthing control system design by the root-locus method. It is advantages of this method that the controlled variables can be controlled separately and each feedback gain can be designed rationally as the set of some single input-output systems.As a result of computer simulation, we have confirmed the feasibility of applying this method to the automatic control of the ship maneuvering motion.