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“A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship”

Authors: Roger Skjetne, Řyvind N. Smogeli and Thor I. Fossen,
Affiliation: NTNU, Centre for Ships and Ocean Structures
Reference: 2004, Vol 25, No 1, pp. 3-27.

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Keywords: Ship control; manoeuvering; nonlinear ship model; system identification, robust adaptive control; experimental testing

Abstract: Complete nonlinear dynamic manoeuvering models of ships, with numerical values, are hard to find in the literature. This paper presents a modeling, identification, and control design where the objective is to manoeuver a ship along desired paths at different velocities. Material from a variety of references have been used to describe the ship model, its difficulties, limitations, and possible simplifications for the purpose of automatic control design. The numerical values of the parameters in the model is identified in towing tests and adaptive manoeuvering experiments for a small ship in a marine control laboratory.

PDF PDF (369 Kb)        DOI: 10.4173/mic.2004.1.1

DOI forward links to this article:
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  title={{A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship}},
  author={Skjetne, Roger and Smogeli, Řyvind N. and Fossen, Thor I.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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