The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization

Polish maritime research

Zenon ZwierzewiczMaritime University of Szczecin 1-2 Wa?y Chrobrego St. 70-500 Szczecin, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹ 

[1] Maritime University of Szczecin 1-2 Wa?y Chrobrego St. 70-500 Szczecin, Poland

关键词: Keywords: ship autopilot design;    feedback linearization;    nonlinear observer;   

DOI  :  10.1515/pomr-2015-0003

学科分类：工程和技术（综合）

来源: Politechnika Gdanska * Wydzial Oceanotechniki i Okretownictwa

【 摘 要 】

The paper considers the problem of ship autopilot design based on Bech’s model of the vessel. Since the model is highly nonlinear and some of the state vector coordinates are unavailable, the control system synthesis is performed by means of an output feedback linearization method combined with a nonlinear observer. The asymptotic stability of the overall system has been proven, including the asymptotic stability of the system internal dynamics. The performed simulations of the ship course-changing process have confirmed a high performance of the proposed controller. It has been emphasized that for its practical usability the system robustification is necessary.

【 授权许可】

Unknown