The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization
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 no...
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| Format: | Article |
| Language: | English |
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Sciendo
2015-01-01
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| Series: | Polish Maritime Research |
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| Online Access: | https://doi.org/10.1515/pomr-2015-0003 |
| _version_ | 1818738012933062656 |
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| author | Zwierzewicz Zenon |
| author_facet | Zwierzewicz Zenon |
| author_sort | Zwierzewicz Zenon |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-18T01:02:11Z |
| format | Article |
| id | doaj.art-869e9e484b664cbcbf1c2ab57591d07e |
| institution | Directory Open Access Journal |
| issn | 2083-7429 |
| language | English |
| last_indexed | 2024-12-18T01:02:11Z |
| publishDate | 2015-01-01 |
| publisher | Sciendo |
| record_format | Article |
| series | Polish Maritime Research |
| spelling | doaj.art-869e9e484b664cbcbf1c2ab57591d07e2022-12-21T21:26:21ZengSciendoPolish Maritime Research2083-74292015-01-01221162110.1515/pomr-2015-0003pomr-2015-0003The Design of Ship Autopilot by Applying Observer - Based Feedback LinearizationZwierzewicz Zenon0Maritime University of Szczecin 1-2 Wały Chrobrego St. 70-500 Szczecin, PolandThe 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.https://doi.org/10.1515/pomr-2015-0003ship autopilot designfeedback linearizationnonlinear observer |
| spellingShingle | Zwierzewicz Zenon The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization Polish Maritime Research ship autopilot design feedback linearization nonlinear observer |
| title | The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization |
| title_full | The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization |
| title_fullStr | The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization |
| title_full_unstemmed | The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization |
| title_short | The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization |
| title_sort | design of ship autopilot by applying observer based feedback linearization |
| topic | ship autopilot design feedback linearization nonlinear observer |
| url | https://doi.org/10.1515/pomr-2015-0003 |
| work_keys_str_mv | AT zwierzewiczzenon thedesignofshipautopilotbyapplyingobserverbasedfeedbacklinearization AT zwierzewiczzenon designofshipautopilotbyapplyingobserverbasedfeedbacklinearization |