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“A globally stable autopilot with wave filter using only yaw angle measurements”

Authors: Trygve Lauvdal and Thor I. Fossen,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1996, Vol 17, No 2, pp. 107-119.

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Keywords: Global stability, adaptive ship autopilot, output feedback, notch filtering, integral action, velocity observer

Abstract: A stable minimum phase transfer function from rudder angle to yaw angle is used to design a globally stable adaptive ship autopilot. First-order wave disturbances in yaw are filtered by applying a notch filter. Integral action is introduced by using a reference model technique. Global stability is proven for the total system which include the yaw rate observer, the parameter update law, the feedback controller, the notch filter and the integral part of the controller. The simulation results showed that the performance is excellent, even with no a priori knowledge of the ship parameters.

PDF PDF (1103 Kb)        DOI: 10.4173/mic.1996.2.4



DOI forward links to this article:
  [1] Trygve Lauvdal and Thor I. Fossen (1998), doi:10.1002/(SICI)1099-1115(199812)12:8<605::AID-ACS516>3.0.CO;2-1


References:
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[2] BALCHEN, J.G., JENSSEN, N.A. SĂLID, S. (1980). Dynamic positioning of floating vessels based on Kalman filtering and optimal control, In: Proceedings of the 19th IEEE Conference on Decision and Control. New York, NY. pp. 852-864.
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BibTeX:
@article{MIC-1996-2-4,
  title={{A globally stable autopilot with wave filter using only yaw angle measurements}},
  author={Lauvdal, Trygve and Fossen, Thor I.},
  journal={Modeling, Identification and Control},
  volume={17},
  number={2},
  pages={107--119},
  year={1996},
  doi={10.4173/mic.1996.2.4},
  publisher={Norwegian Society of Automatic Control}
};

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