Abstract
The author has already published some papers about an optimal maneuvering method applying a continuous quadratic linear variable gain control theory by Bryson-Ho. The main purpose of this paper is put on realizing high accuracy tracking maneuvering using Bryson-Ho's discrete varying gain controller (DTVLQC). The authors adopt the discrete model in order to represent ship's maneuvering motion, because of the easiness in model fitting technique and effectiveness of the fitted model. The ship's motions are adaptively identified using an RLS method and the optimal variable gains under the quadratic evaluation index are calculated at every control executing time. Lastly, in order to verify the effectiveness of these methods, we report and discuss about the results of the actual onboard experiments using the small training ship, Shioji Maru.
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