A nonlilear controller for ship autopilots

A nonlilear controller for ship autopilots

Blog Article

Conventional ship autopilots are designed based on a linear ship model using pole - placement technique Bar Spoons or linear optimal theory.However, in operation, the ship kinematical parameters can go out the linear limits.In this paper, a nonlinear optimal control law based on aggregated variables is presented.

The criterion is chosen so that the dynamic characteristics of object are included.The stability of the closed-loop system is global according to the Bike Accessories - Bells Lyapunov stability theory.The control law depends explicitly on ship model parameters, so that it is can be easily to tune when the parameters change.