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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:

    Published in:

    Publication date :

    2013




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    Unknown


    Classification :

    BKL:    55.40 Schiffstechnik, Schiffbau / 50.92 Meerestechnik



    Adaptive robust nonlinear design of course keeping ship steering autopilot

    Du, Jialu / Guo, Chen / Zhao, Yongsheng et al. | Tema Archive | 2004



    A New Robust Adaptive Backstepping for Ship Course-Keeping Control

    Wang, Hao Duo ;Wang, Qin Ruo ;Yan, Luo | Trans Tech Publications | 2014


    Flexible Spacecraft Control Using Robust Feedback Linearization

    Malekzadeh, Maryam / Naghash, Abolghasem / Talebi, Ali | AIAA | 2010


    Flexible Spacecraft Control Using Robust Feedback Linearization

    Malekzadeh, M. / Naghash, A. / Talebi, A. et al. | British Library Conference Proceedings | 2010