Abstract
The ideas of developing recursive optimal manoeuvring systems are based on the author's recent research results related to applications of the recursive estimation procedures and modern control theory in marine control systems. The manoeuvring is a trajectory tracking control system. The adopted method is combination of a recursive estimation procedure with an appropriate control law. In order to do the maritime search and rescue mission, the reference trajectory generated by the guidance system is computed based on the way-point, light-of-sight and exponential decay techniques and standard search patterns suggested by International Maritime Organization (IMO). The manoeuvring system has time-varying coefficients that are estimated by an online estimation identification procedure, and time-varying control gains determined by the optimal control law. Therefore, the manoeuvring system can adapt well to changes of environmental disturbances and do the tasks of maritime search and rescue mission at rough seas.
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