Abstract
In this paper the problem of ship trajectory tracking with ॉ-accuracy is considered. Results presented are based on a three-degrees-of-freedom model with full dynamic interaction between motions in roll, sway and yaw. The aim of control is to minimise the influence of wave disturbances on roll motion and to track with ॉ-accuracy a ship trajectory. For this purpose a linearised and a non-linear ship model are used. The Matlab-Simulink simulations confirm the viability of the proposed method for the high precision control of ship track-keeping.
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