Synthesis of dynamic corrector to improve accuracy of course stabilization

A novel scheme to improve the dynamic characteristics of ship motion control system is proposed after investigating several advanced control algorithms. Problem of selecting the corrector loop in multi-object structure is studied, which achieved the accuracy requirements of vessel course control on disturbed sea. An integrated control law with a synthesized structure Asymptotic Observer + Corrector + Speed control law(ACSC) is deduced. Basic characteristics of ACSC law are described, then the way to obtain the transmission matrix F(s) of dynamic corrector is presented. Controller´s transmission function WO(p), insuring stability of closed loop system, is found as a solution of mean square norm optimization problem. Finally, the performance of control system is studied, especially the course accuracy and amplitude-frequency characteristics with/without control are compared for disturbed sea conditions.