Abstract
The paper considers a problem of ship autopilot design based on the input-output feedback linearization method combined with the robust and adaptive control approaches. At first, the nonlinear ship model of Norrbin type is linearized with the use of the simple system nonlinearity cancellation. Next, as exact values of the model parameters are not known, the ensuing inaccuracies are taken as disturbances acting on the system. Thereby we obtain a linear system with an extra term representing the uncertainty that can be treated by using robust, H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> optimal control techniques. In the final step, to enhance the overall system performance, the system parameters are additionally tuned in adaptive way. The performed simulations of ship course-changing process confirmed a high performance of the proposed controller despite the assumed considerable errors of its parameters.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
