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
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;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269719
