Consistent Design of PID Controllers for an Autopilot

1 T. I. Fossen, Guidance and Control of Ocean Vehicles (4th ed.). Chichester: Wiley, 1999, ISBN 0 471 94113 1. Search in Google Scholar

2 T. I. Fossen, Handbook of Marine Craft Hydrodynamics and Motion Control. Wiley, 2011, doi: 10.1002/9781119994138. Open DOISearch in Google Scholar

3 K. J. Åström, “Why use adaptive techniques for steering large tankers?,” International Journal of Control, vol. 32, no. 4, pp. 689-708, 1980, doi: 10.1080/00207178008922882. Open DOISearch in Google Scholar

4 Z. Zwierzewicz, “On the ship course-keeping control system design by using robust feedback linearization,” Polish Maritime Research, vol. 20, no. 1, pp. 70-76, 2013, doi: 10.2478/pomr-2013-0008. Open DOISearch in Google Scholar

5 S. S. Hu, P. H. Yang, J. Y. Juang, and B. C. Chang, “Robust nonlinear ship course-keeping control by H_∞ I/O linearization and μ-synthesis,” International Journal of Robust and Nonlinear Control, vol. 13, no. 1, pp. 55-70, 2003, doi: 10.1002/rnc.700. Open DOISearch in Google Scholar

6 M. Rybczak, “Linear matrix inequalities in multivariable ship’s steering,” Polish Maritime Research, vol. 19, no. S1 (74), pp. 37-44, 2012, doi: 10.2478/v10012-012-0021-7. Open DOISearch in Google Scholar

7 R. Zhang, Y. Chen, Z. Sun, F. Sun, and H. Z. Xu, “Path control of a surface ship in restricted waters using sliding mode,” IEEE Trans. Control Syst. Technol., vol. 8, no. 4, pp. 722-732, 2000, doi: 10.1109/87.852916. Open DOISearch in Google Scholar

8 Z. Liu, “Adaptive sliding mode control for ship autopilot with speed keeping,” Polish Maritime Research, vol. 25, no. 4 (100), pp. 21-29, 2018, doi: 10.2478/pomr-2018-0128. Open DOISearch in Google Scholar

9 A. Bhatt, S. Das, and S. E. Talole, “Robust backstepping ship autopilot design,” Journal of Marine Engineering and Technology, vol. 20, no. 1, pp. 34-41, 2021, doi: 10.1080/20464177.2018.1550030. Open DOISearch in Google Scholar

10 A. Witkowska, M. Tomera, and R. Śmierzchalski, “A backstepping approach to ship course control,” International Journal of Applied Mathematics and Computer Science, vol. 17, no. 1, pp. 73-85, 2007, doi: 10.2478/v10006-007-0007-2. Open DOISearch in Google Scholar

11 M. Asadi and A. Khayatian, “Adaptive backstepping autopilot for waypoint tracking control of a container ship in the presence of time-varying disturbances,” IFAC Proceedings Volumes, vol. 44, no. 1, pp. 14760-14765, 18th IFAC World Congress, 2011. Search in Google Scholar

12 A. Zirilli, G. N. Roberts, A. Tiano, and R. Sutton, “Adaptive steering of a container ship based on neural networks,” International Journal of Adaptive Control and Signal Processing, vol. 14, no. 8, pp. 849-873, 2000, doi: 10.1002/1099-1115(200012)14:8<849::AID-ACS633>3.0.CO;2-I. Open DOISearch in Google Scholar

13 M. Tomera, “Ant colony optimization algorithm applied to ship steering control,” Procedia Computer Science, vol. 35, pp. 83-92, 2014, doi: 10.1016/j.procs.2014.08.087. Open DOISearch in Google Scholar

14 L. Morawski, J. Pomirski, and A. Rak, ”Trajectory tracking control system for a ship,” in IFAC Conference on Control Applications in Marine Systems, pp. 251-255, 2004, doi: 10.1016/S1474-6670(17)31740-8. Open DOISearch in Google Scholar

15 L. Moreira, T. I. Fossen, and C. Guedes Soares, “Path following control system for a tanker ship model,” Ocean Engineering, vol. 34, no. 14–15, pp. 2074-2085, 2007, doi: 10.1016/j.oceaneng.2007.02.005. Open DOISearch in Google Scholar

16 T. I. Fossen, “Nonlinear maneuvering theory and path-following control,” in Centre for Marine Technology and Engineering (CENTEC) Anniversary Book, C. Guedes Soares, Y. Garbatov, N. Fonseca, and A. P. Texeira, Eds. CRC Press, Taylor & Francis Group, 2012. Search in Google Scholar

17 P. Borkowski, “Adaptive system for steering a ship along the desired route,” Mathematics, vol. 6, no. 10, 2018, doi: 10.3390/math6100196. Open DOISearch in Google Scholar

18 Z. Zwierzewicz, “Robust and adaptive path-following control of an underactuated ship,” IEEE Access, vol. 8, pp. 120198-120207, 2020, doi: 10.1109/ACCESS.2020.3004928. Open DOISearch in Google Scholar

19 L. Moreira, T. I. Fossen, and C. Guedes Soares, Modeling, Guidance and Control of ‘Esso Osaca’ Model, Internal Report, No. 2005-2-W, Trondheim, 2005, doi: 10.3182/20050703-6-CZ-1902.01956. Open DOISearch in Google Scholar

20 K. Kula and M. Tomera, “Control system of training ship keeping the desired path consisting of straight-lines and circular arcs,” TransNav: International Journal on Marine Navigation and Safety of Sea Transportation, vol. 11, no. 4, pp. 711-719, 2017, doi: 10.12716/1001.11.04.19. Open DOISearch in Google Scholar

21 D. E. Seborg, T. F. Edgar, D. A. Mellichamp, and F. J. Doyle, Process Dynamics and Control (4^th ed.), New York: Wiley, 2016, ISBN: 978-81-265-4126-3. Search in Google Scholar

22 ALPHASEAPILOT MFC Autopilot Operating Manual, Alphatron, https://www.alphatronmarine.com Search in Google Scholar

23 FAP-2000 Autopilot Operator Manual, Furuno, https://www.furuno.com Search in Google Scholar

24 Simrad AP70/80 Operator Manual, Simrad, https://rowlandsmarine.co.uk Search in Google Scholar

25 L. LI, Z. Pei, J. Jin and Y. Dai, “Control of Unmanned Surface Vehicle Along the Desired Trajectory Using Improved Line of Sight and Estimated Sideslip Angle,” Polish Maritime Research, vol. 28, no. 2, pp. 18-26, 2021, doi: 10.2478/pomr-2021-0017. Open DOISearch in Google Scholar

26 L. Trybus, Z. Świder, and A. Stec, “Tuning Rules of Conventional and Advanced Ship Autopilot Controllers,” in ICA 2015: Progress in Automation, Robotics and Measuring Techniques, pp. 303-311, 2015, doi: 10.1007/978-3-319-15796-2_31. Open DOISearch in Google Scholar

27 R. C. Dorf and R. M. Bishop, Modern Control Systems (11^th ed.). Upper Saddle River, New York: Prentice Hall, 2008, ISBN 0-13-227028-5. Search in Google Scholar

28 Praxis Automation Technology B.V., http://www.praxis-automation.nl. Search in Google Scholar

29 IEC 61131-3 – Programmable controllers – Part 3: Programming languages, 2003, 2013. Search in Google Scholar