The design of ship autopilot by apploying observer - based feedback linearization

• Autorzy: Zwierzewicz Z.
• Języki publikacji: EN

Abstrakty

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

• Wydawca: -
• Czasopismo: Polish Maritime Research
• Rocznik: 2015
• Tom: 22
• Numer: 1
• Opis fizyczny: p.16-21,fig.,ref.

Twórcy

autor

Zwierzewicz Z.

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

Bibliografia

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Identyfikatory

DOI

10.1515/pomr-2015-0003