“Adaptive feedback linearization applied to steering of ships”

Authors: Thor I. Fossen and Marit Paulsen,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1993, Vol 14, No 4, pp. 229-237.

Keywords: Ship autopilot, ship steering, nonlinear control, adaptive control

Abstract: This paper describes the application of feedback linearization to automatic steering of ships. The flexibility of the design procedure allows the autopilot to be optimized for both course-keeping and course-changing manoeuvres. 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 in a systematic manner to compensate for nonlinearities in the control design.

PDF PDF (1008 Kb)        DOI: 10.4173/mic.1993.4.4

DOI forward links to this article:
[1] S. Jiffri, P. Paoletti, J. E. Cooper and J. E. Mottershead (2014), doi:10.1155/2014/106531
[2] M. A. Unar and D. J. Murray-Smith (1999), doi:10.1002/(SICI)1099-1115(199906)13:4<203::AID-ACS544>3.0.CO;2-T
[3] R. Simensen and D.J. Murray-Smith (1996), doi:10.1016/S1474-6670(17)43732-3
[4] Chong Zhen, Shakir Jiffri, Daochun Li, Jinwu Xiang and John E. Mottershead (2018), doi:10.1016/j.ymssp.2017.05.048
[5] S. Jiffri, J. E. Mottershead and J. E. Cooper (2014), doi:10.1007/978-1-4614-6585-0_66
[1] BARBALAT, (1959). Systèmes d´equations differentielles d´oscillations non linéaires, Revue de Mathèmatiques Pures et Appliquées, 4, 267-270..in French.
[2] BECH, M.I. WAGNER SMITH L. (1969). Analogue Simulation of Ship Manoeuvres, Technical Report Hy-14, Hydro- and Aerodynamics Laboratory, Lyngby, Denmark.
[3] FOSSEN, T.I. (1991). Nonlinear Modelling and Control of Underwater Vehicles, Dr.ing thesis, Division of Engineering Cybernetics, Norwegian Institute of Technology, Trondheim, June 1991.
[4] FREUND, E., (1973). Decoupling and pole assignment in nonlinear systems, Electronics Letter, 9, No. 16, 1973 doi:10.1049/el:19730275
[5] HOROWITZ, R. TOMIZUKA, M., (1986). An adaptive control scheme for mechanical manipulators - compensation of nonlinearity and deeoupling control, Technical Report No. 80-WA/DSC-6, ASME.
[6] NOMOTO, K., TAGUCHI, T., HONDA, K. HIRANO, S. (1957). On the steering qualities of ships, Technical Report, International Shipbuilding Progress, Vo. 4.
[7] NORRBIN, N.H. (1963). On the design and analyses of the zig-zag test on base of quasi linear frequency response, Technical Report B 104-3, The Swedish State Shipbuilding Experimental Tank.SSPA, Gothenburg, Sweden.
[8] POPOV, V.M. (1973). Hyperstability of Control Systems, Springer-Verlag, Berlin.
[9] VAN AMERONGEN, J. (1982). Adaptive steering of ships - a model reference approach to improved manoeuvring and economical course keeping, Ph.D thesis, Delft University of Technology, The Netherlands.
[10] VAN AMERONGEN, J. (1984). Adaptive steering of ships - a model reference approach, Automatica, 20, 3-14 doi:10.1016/0005-1098(84)90060-8

  title={{Adaptive feedback linearization applied to steering of ships}},
  author={Fossen, Thor I. and Paulsen, Marit},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}