DocumentCode
1597089
Title
Adaptive feedback linearization applied to steering of ships
Author
Fossen, Thor I. ; Paulsen, Marit J.
Author_Institution
Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
fYear
1992
Firstpage
1088
Abstract
The application of feedback linearization to automatic steering of ships is described. The flexibility of the design procedure allows the autopilot to be optimized for both course-keeping and course-changing maneuvers. Direct adaptive versions of both the course-keeping and turning controller are derived. The advantages of the adaptive controllers are improved performance and reduced fuel consumption. The application of nonlinear control theory also allows the designer to compensate for nonlinearities in the control design in a systematic manner
Keywords
adaptive control; feedback; linearisation techniques; nonlinear control systems; position control; ships; adaptive controllers; autopilot optimization; course-changing maneuvers; course-keeping; feedback linearization; nonlinear control theory; reduced fuel consumption; ships; steering; Adaptive control; Automatic control; Control design; Control theory; Design optimization; Feedback; Fuels; Marine vehicles; Programmable control; Turning;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1992., First IEEE Conference on
Conference_Location
Dayton, OH
Print_ISBN
0-7803-0047-5
Type
conf
DOI
10.1109/CCA.1992.269719
Filename
269719
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