<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The paper considers the problem of ship autopilot design based on Bech’s model of the vessel. Since the model is highly nonlinear and some of the state vector coordinates are unavailable, the control system synthesis is performed by means of an output feedback linearization method combined with a nonlinear observer. The asymptotic stability of the overall system has been proven, including the asymptotic stability of the system internal dynamics. The performed simulations of the ship course-changing process have confirmed a high performance of the proposed controller. It has been emphasized that for its practical usability the system robustification is necessary.</p></abstract>

The paper considers the problem of ship autopilot design based on Bech’s model of the vessel. Since the model is highly nonlinear and some of the state vector coordinates are unavailable, the control system synthesis is performed by means of an output feedback linearization method combined with a nonlinear observer. The asymptotic stability of the overall system has been proven, including the asymptotic stability of the system internal dynamics. The performed simulations of the ship course-changing process have confirmed a high performance of the proposed controller. It has been emphasized that for its practical usability the system robustification is necessary.

The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization

Maritime University of Szczecin 1-2 Wały Chrobrego St. 70-500 Szczecin, Poland

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization"}

The paper considers the problem of ship autopilot design based on Bech’s model of the vessel. Since the model is highly nonlinear and some of the state vector...

The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization

Published Online: Apr 10, 2015

Page range: 16 - 21

DOI: https://doi.org/10.1515/pomr-2015-0003

Keywords
ship autopilot design, feedback linearization, nonlinear observer

© 2015

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization

Published Online: Apr 10, 2015

Page range: 16 - 21

DOI: https://doi.org/10.1515/pomr-2015-0003

Keywordsship autopilot design, feedback linearization, nonlinear observer

© 2015

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
ship autopilot design, feedback linearization, nonlinear observer