Your browser does not support JavaScript!

Sensitivity reduction in ship-manoeuvring performance via nonlinear compensation

Sensitivity reduction in ship-manoeuvring performance via nonlinear compensation

For access to this article, please select a purchase option:

Buy article PDF
(plus tax if applicable)
Buy Knowledge Pack
10 articles for $120.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Your details
Why are you recommending this title?
Select reason:
IEE Proceedings D (Control Theory and Applications) — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

During a manoeuvre it is frequently found that a ship's yaw dynamics vary widely. To obtain a consistent response to the helm, it is therefore advisable to provide an autopilot to cope with plant uncertainties. Using the method of Horowitz, a high-loop-gain linear system may be designed which achieves an acceptable spread of transient responses. Unfortunately, there is a penalty to be paid in the form of excessive rudder activity when course keeping. It is therefore desirable to find a way of reducing the loop-gain requirement by attempting to remove some of the plant ignorance. The paper therefore proposes to reduce the plant uncertainty by using an inverse nonlinear compensator derived from a simple linear time-invariant model of the ship. It is then possible to control the resultant modified (and of reduced ignorance) plant with a much smaller loop gain. The paper shows that the design results in consistent manoeuvring performance coupled with much reduced rudder activity during course keeping. The complete compensator is readily realisable in DDC.

Related content

This is a required field
Please enter a valid email address