Abstract
ABSTRACTThe Replenishment At Sea (RAS) maneuver is studied in detail for heading and speed control. Design of purposefully nonlinear laws is accomplshed using the linearized Equations of Motion in three‐degrees‐of‐freedom. Extensive use was made of low order modelling and optimal control theory. The results are verified using simulation for a number of possible RAS scenarios. The control systems were also tested in a simulated Sea State to insure proper operation in the presence of external perturbations.
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