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Abstract

The problem of adaptive control system synthesis using the local criterion is considered. The criterion selection allows you to take into account ship course errors and desired small deviations of rudder. The theoretical basis for solving this problem is the velocity gradient method. To obtain laws (algorithms) for adjusting the regulator parameters, a local quadratic quality criterion that is oriented on ensuring small deviations from the set course and keeping the ship’s heading has been chosen. Adaptive course control systems, obtained on the basis of theoretical research, are modeled in the MATLAB environment. It is shown that the originally obtained adaptation laws can be modified by coarsening due to introducing a negative feedback on the tunable parameter. The results of modeling the ship course control system under the influence of an external disturbance are also presented in the paper. The algorithm developed in the paper for setting the regulator parameters allows controlling the ship movement along the course under wind-wave action with wave amplitude of 6 degrees and the constant wave component of 6 degrees. The results of modeling the ship course control system without setting the regulator and with the setting enabled confirm the effectiveness of the proposed approach.