“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

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  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}