Autor:

Tomera, Mirosław

Współtwórca:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Tytuł:

Nonlinear controller design of a ship autopilot

Tytuł publikacji grupowej:

AMCS, Volume 20 (2010)

Temat i słowa kluczowe:

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

Abstract:

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.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2010

Typ zasobu:

artykuł

DOI:

10.2478/v10006-010-0020-8

Strony:

271-280

Źródło:

AMCS, Volume 20, Number 2 (2010) ; kliknij tutaj, żeby przejść

Jezyk:

eng

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego