DocumentCode
274675
Title
Nonlinearity considerations in marine vehicle autopilot design
Author
Pourzanjani, M. ; Vahedipour, A.
Author_Institution
Exeter Univ., UK
fYear
1991
fDate
25-28 Mar 1991
Firstpage
822
Abstract
Some basic concepts in formulation of various types of ship manoeuvring mathematical models are discussed. Comparison of the two autopilots based on PID and PDF (pseudo-derivative feedback) algorithms showed the superiority of PDF autopilots over PID. Smooth rudder activity and heading responses with smaller overshoots were observed with the PDF autopilot. The results show that with PDF autopilots better performance can be achieved using linear or nonlinear ship models and the PDF autopilot has better transient behaviour and is robust to variation in the parameters and nonlinearities of the ship dynamics
Keywords
control nonlinearities; feedback; ships; three-term control; transient response; PDF; PID; autopilot; design; dynamics; marine vehicle; mathematical models; pseudo derivative feedback; ship manoeuvring; transient response;
fLanguage
English
Publisher
iet
Conference_Titel
Control 1991. Control '91., International Conference on
Conference_Location
Edinburgh
Print_ISBN
0-85296-509-5
Type
conf
Filename
98555
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