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Autopilot for ship control. Part 2: Simulation studies

Autopilot for ship control. Part 2: Simulation studies

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In part 1 of the paper a self-tuning ship-autopilot design was presented that reconciles the conflicting demands of course keeping and of manoeuvring by using two modes of operation. During the course-keeping mode the performance criterion is formulated to minimise heading error, propulsion losses and rudder activity, while in the manoeuvring phase the concern is simply to minimise heading error. The system parameters are identified using recursive least-squares estimation to confer on the autopilot a high degree of adaptability, as illustrated in the simulation studies in this paper.

References

    1. 1)
      • Mort, N., Linkens, D.A.: `Self-tuning controller for surfaceship manoeuvring', Symposium on Dynamic Analysis of Vehicle Ride and Manoeuvring Characteristics, Inst. Measurement and Control, 1978.
    2. 2)
      • C.W. Merriam . (1964) , Optimisation theory and design of feedback control system.
    3. 3)
      • Brooke, D.L.: `The design of a new automatic pilot for the commercial ship', First IFAC/IFIP Symposium on Ship Operation Automation, Oslo.
    4. 4)
      • Norrbin, N.H.: `On the added resistance due to steering on a straight course', 13th International Towing Tank Conference Report of Performance Committee, 1974.
    5. 5)
      • C.G. Kallstrom , A.J. Astrom , N.E. Thorell , J. Erikson , L. Sten . Adaptive autopilots for tankers. Automatica , 241 - 254
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Autopilot for ship control. Part 1: Theoretical design
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