Nonlinear controller design of a ship autopilot

• Autorzy: Mirosław Tomera
• Języki publikacji: EN

Abstrakty

EN

The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.

Słowa kluczowe

EN

sliding mode control; nonlinear control; disturbance rejection; ship control

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2010
• Tom: 20
• Numer: 2
• Strony: 271-280

Daty

wydano

2010

otrzymano

2009-07-25

poprawiono

2009-12-19

Twórcy

autor

Mirosław Tomera

• Department of Ship Automation, Gdynia Maritime University, ul. Morska 83, 81-225 Gdynia, Poland

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Identyfikatory

DOI

10.2478/v10006-010-0020-8