A Nonlinear Ship Manoeuvering model: Identification and adaptive control with experiments for a model ship

Complete nonlinear dynamic manoeuvering models of ships, with numerical values, are hard to find in the literature. This paper presents a modeling, identification, and control design where the objective is to manoeuver a ship along desired paths at different velocities. Material from a variety of re...

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Bibliographic Details
Published in:Modeling, identification and control identification and control, 2004, Vol.25 (1), p.3-27
Main Authors: SKJETNE, Roger, SMOGELI, Øyvind N, FOSSEN, Thor I
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Ship control
manoeuvering
nonlinear ship model
system identification
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Summary:Complete nonlinear dynamic manoeuvering models of ships, with numerical values, are hard to find in the literature. This paper presents a modeling, identification, and control design where the objective is to manoeuver a ship along desired paths at different velocities. Material from a variety of references have been used to describe the ship model, its difficulties, limitations, and possible simplifications for the purpose of automatic control design. The numerical values of the parameters in the model is identified in towing tests and adaptive manoeuvering experiments for a small ship in a marine control laboratory.
ISSN:0332-7353
1890-1328
DOI:10.4173/mic.2004.1.1