Identification of the nonlinear ship model parameters based on the turning test trial and the backstepping procedure

This work presents a novel contribution to solve the problem of identification of ship models parameters using the temporal variation data of the yaw angle achieved from a particular trial test as the turning circle. A relatively complex nonlinear model of Wagner-Smith has been chosen as basis becau...

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Bibliographic Details
Published in:Ocean engineering 2005-08, Vol.32 (11), p.1350-1369
Main Authors: Casado, Manuel Haro, Ferreiro, Ramón
Format: Article
Language:English
Subjects:
Adaptive control
Applied sciences
Backstepping
Exact sciences and technology
Ground, air and sea transportation, marine construction
Marine construction
Modelling
Nonlinear systems
Trajectory planning
Tuning functions design
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Summary:This work presents a novel contribution to solve the problem of identification of ship models parameters using the temporal variation data of the yaw angle achieved from a particular trial test as the turning circle. A relatively complex nonlinear model of Wagner-Smith has been chosen as basis because it represents the ship's dynamics appropriately as proved through the experimental measures obtained in a particular ship. The proposed algorithm of identification of the six ship model parameters is based on the combination of two sub-algorithms: the backstepping procedure and the tuning design method. The simulation results show the suitability of the proposed procedure.
ISSN:0029-8018
1873-5258
DOI:10.1016/j.oceaneng.2004.11.003