The design of ship autopilot by applying observer – based feedback linearization

• Autorzy: Zwierzewicz Z.
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

ship autopilot design; feedback linearization; nonlinear observer

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2015
• Tom: nr 1
• Strony: 16--21
• Opis fizyczny: Bibliogr. 15 poz., rys.

Twórcy

autor

Zwierzewicz Z.

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

Bibliografia

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• 14. Zwierzewicz Z.: Ship course-keeping by nonlinear adaptive control synthesis. Int. Journal of Factory Automation, Robotics and Soft Computing, 2007, No. 2, April, 2007, pp.102-107.
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