<abstract xmlns="http://www.w3.org/1999/xhtml"><p> In the paper the problem of ship autopilot design based on feedback linearization method combined with the robust control approach, is considered. At first the nonlinear ship model (of Norrbin type) is linearized with the use of the simple system nonlinearity cancellation. Next, bearing in mind that exact values of the model parameters are not known, the ensuing inaccuracies are taken as disturbances acting on the system. Thereby is obtained a linear system with an extra term representing the uncertainty which can be treated by using robust, H∞ optimal control techniques. The performed simulations of ship course-changing process confirmed a high performance of the proposed controller despite the assumed significant errors of its parameters.</p></abstract>

In the paper the problem of ship autopilot design based on feedback linearization method combined with the robust control approach, is considered. At first the nonlinear ship model (of Norrbin type) is linearized with the use of the simple system nonlinearity cancellation. Next, bearing in mind that exact values of the model parameters are not known, the ensuing inaccuracies are taken as disturbances acting on the system. Thereby is obtained a linear system with an extra term representing the uncertainty which can be treated by using robust, H∞ optimal control techniques. The performed simulations of ship course-changing process confirmed a high performance of the proposed controller despite the assumed significant errors of its parameters.

On the ship course-keeping control system design by using robust feedback linearization

Faculty of Marine Engineering, Maritime University of Szczecin, Wały Chrobrego 1-2, 70-500 Szczecin, Poland

Polish Maritime Research

In the paper the problem of ship autopilot design based on feedback linearization method combined with the robust control approach, is considered. At first the...

On the ship course-keeping control system design by using robust feedback linearization

Published Online: Apr 12, 2013

Page range: 70 - 76

DOI: https://doi.org/10.2478/pomr-2013-0008

Keywords
feedback linearization, robust control, differential games, ship autopilot design

This content is open access.

On the ship course-keeping control system design by using robust feedback linearization

Published Online: Apr 12, 2013

Page range: 70 - 76

DOI: https://doi.org/10.2478/pomr-2013-0008

Keywordsfeedback linearization, robust control, differential games, ship autopilot design

This content is open access.

Keywords
feedback linearization, robust control, differential games, ship autopilot design