Research on simulation of course control for large ship with wave disturbances in different sea conditions

Bian, Xinqian; Wang, Yuanhui; Zhang, Xiaoyun; Xia, Guoqing

doi:10.23919/oceans.2009.5422283

Cited by 4 publications

(1 citation statement)

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“…In Du et al (2007), an adaptive course controller for time-varying parametrically uncertain nonlinear ships with completely unknown time-varying bounded control coefficients was developed and the design method did not require any a priori knowledge of the sign of the unknown time-varying control coefficient. Unlike the existing works (Bian et al, 2009; Ho et al, 2010), the heading autopilot in Velasco et al (2013) was investigated based on an autonomous In-Scale Fast Ferry. The physical control system was implanted by a PC using WiFi communications, and the results are very valuable for course-keeping autopilot design.…”

Section: Introductionmentioning

confidence: 99%

Design of Ship Course-Keeping Autopilot using a Sine Function-Based Nonlinear Feedback Technique

Zhang

2015

J. Navigation

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Course keeping for ships is the core of automatic navigation in sea transportation. Much work has concentrated on developing novel control strategies for closed loop systems. We have turned our attention the other way to improve the control performance of marine autopilots in this work by "modulating" the control error using a sine function while the construction of the controller is not changed. The nonlinear feedback signal thus obtained is sent to the controller to replace the control error itself, which used to be the deviation between the output response and the reference input of the system. Such a control scheme is called "nonlinear feedback control" hereafter. Theoretical analysis by using a describing function and robust control theory shows that the same control quality is guaranteed with minor control actions for the nonlinear feedback scheme. Simulation experiments were carried out for the ship Yulong of Dalian Maritime University. It is shown that the method postulated in this paper has advantages of safety and energy saving in navigation; the maximum initial rudder angle is reduced by 31·2% with satisfactory control effect.2. Closed-loop gain shaping. 3. Course keeping. 4. Nonlinear feedback. 5. Sine function.6. Describing function.

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Section: Introductionmentioning

confidence: 99%