Abstract
In the previous paper, the authors proposed the convenient design method of the ship manoeuvring control system with the learning feed-forward control technique, and showed by computer simulation that the system was effective to both the follow-up control system and the disturbance compensation system for a ship.Now, the authors have performed experiments to confirm the effectiveness of the systems for an actual ship and to put it to practical use. The experiments are performed mainly about the follow-up control of the ship with the bow thruster and with the rudder, respectively. The experimental results are discussed about the characteristics and the problems of the learning feed-forward control system, and also examined about the stability of the system for the actual ship with the root locus method.It is proved that the ship manoeuvring control systems with the learning feed-forward control technique are useful as a control system of an actual ship.
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