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

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.

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Nonlinear controller design of a ship autopilot

Nonlinear controller design of a ship autopilot

The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.

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Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

–34. Tomera, M. (2014). Dynamic positioning system for a ship on harbour manoeuvring with different observers: Experimental results, Polish Maritime Research 21 (3): 3–24, DOI: 10.2478/pomr-2014-0025. Tomera, M. (2015). A multivariable low speed controller for a ship autopilot with experimental results, Proceedings of the 20th International Conference on Methods and Models in Automation and Robotics (MMAR), Międzyzdroje, Poland , pp. 17-22, DOI: 10.1109/MMAR.2015.7283699. Tutturen, S.A. and Skjetne, R. (2015). Hybrid

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On the ship course-keeping control system design by using robust feedback linearization

Abstract

In the paper the problem of ship autopilot design based on feedback linearization method combined with the robust control approach, is considered. At first the nonlinear ship model (of Norrbin type) is linearized with the use of the simple system nonlinearity cancellation. Next, bearing in mind that exact values of the model parameters are not known, the ensuing inaccuracies are taken as disturbances acting on the system. Thereby is obtained a linear system with an extra term representing the uncertainty which can be treated by using robust, H∞ optimal control techniques. The performed simulations of ship course-changing process confirmed a high performance of the proposed controller despite the assumed significant errors of its parameters.

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Adaptive Sliding Mode Control for Ship Autopilot with Speed Keeping

Abstract

The paper addresses an important issue in surface vessel motion control practice that the ship dynamics and sailing performance can be affected by speed loss. The vessel speed is significantly decreased by the added resistance generated by waves. An adaptive sliding mode course keeping control design is proposed which takes into account uncertain ship dynamics caused by forward speed variations, while avoiding performance compromises under changing operating and environmental conditions. The sliding mode control provides robust performance for time-varying wave disturbances and time-varying changes in ship parameters and actuator dynamics. After combining the unknown but bounded system uncertainties, the design of the adaptation law is obtained which is based on the Lyapunov’s direct method. Simulations on a ship with two rudders illustrate the effectiveness of the proposed solution.

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Designing a ship course controller by applying the adaptive backstepping method

keeping ship steering autopilot, 8th Control Automation Robotics and Vision Conference, ICARCV, Kunming, China , Vol. 1, pp. 13-18. Fossen, T.I. and Strand, J.P. (1999). A tutorial on nonlinear backstepping: Applications to ship control, Modelling, Identification and Control 20 (2): 83-135. Galbas, J. (1988). Synthesis of Precise Ship Control Using Thrusters , Ph.D. thesis, Gdan´sk University of Technology, Gdan´sk, (in Polish). Grimble, M., Zhang, Y. and Katebi, M.R. (1993). H∞ -based ship autopilot design, Ship

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The Sensitivity of State Differential Game Vessel Traffic Model

-Techniczne, Warszawa, 1977. 22. Zwierzewicz Z.: The design of ship autopilot by applying observer – based feedback linearization. Polish Maritime Research, Vol. 22, No. 1, pp. 16-21.

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Dynamic Positioning System for a Ship on Harbour Manoeuvring with Different Observers. Experimental Results

- Model Reference Approach , Automatica, Vol. 20, No 1, 1984, pp. 3-14. 5. Saelid S., Svanes T., Onshus T., Jensen N.A.: Design considerations, analysis and practical experince with an adaptive ship's autopilot , In: Proceedings of the 9 th I FAC World Congress, Budapest, Hungary, 1984, pp. 35-40. 6. Holzhuter T., Strauch H.: A Commercial Adaptive Autopilot for Ships: Design and Operational Experiences , In: Procedings of the 10 th IFAC World Congress, Munch, Germany, 1987, pp. 226-230. 7. A merongen J.V., Naut a Lem ke H.R.V.: Recent development in automatic

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Sensitivity of computer support game algorithms of safe ship control

robot systems, International Journal of Applied Mathematics and Computer Science 21 (4): 659-670, DOI: 10.2478/v10006-011-0052-8. Tomera, M. (2010). Nonlinear controller design of a ship autopilot, International Journal of Applied Mathematics and Computer Science 20 (2): 271-280, DOI: 10.2478/v10006-010-0020-8. Tomera, M. and Smierzchalski, R. (2006). Sliding controller for ship course steering, Proceedings of the IFAC Conference on Manoeuvering and Control of Marine Crafts, Lisbon, Portugal , pp. 211

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Nonlinear control for a diesel engine: A CLF-based approach

Systems, Man and Cybernetics 15(1): 116-132. Tanaka, K. and Wang, H.O. (2001). Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach, Wiley, New York, NY. Tomera, M. (2010). Nonlinear controller design of a ship autopilot, International Journal of Applied Mathematics and Computer Science 20(2): 271-280, 10.2478/v10006-010-0020-8. Upadhyay, D., Utkin, V. and Rizzoni, G. (2002). Multivariable control design for intake flow regulation of a diesel engine using sliding mode, 15th Triennial World

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