Abstract:Abstract. Conventional ship autopilots are designed based on a linear ship model using pole -placement technique or linear optimal theory. However, in operation, the ship kinematical parameters can go out the linear limits. In this paper, a nonlinear optimal control law based on aggregated variables is presented. The criterion is chosen so that the dynamic characteristics of object are included. The stability of the closed-loop system is global according to the Lyapunov stability theory. The control law depend… Show more
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