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2011 | OriginalPaper | Chapter

7. Nonlinear Control of Surface Ships

Authors : Prof. Béla Lantos, Dr. Lőrinc Márton

Published in: Nonlinear Control of Vehicles and Robots

Publisher: Springer London

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Abstract

Chapter 7 focuses on the dominant control methods of ships. First, the typical structure of the control system is shown. A short overview is given about the path design methods including Line-of-Sight guidance and wave filtering. The state estimation using GPS and IMU is discussed and observers are suggested to solve the problem. From the wide spread control methods the acceleration feedback with nonlinear PD, the nonlinear decoupling both in body and in NED frames, the adaptive feedback linearization and the MIMO backstepping in 6 DOF are presented including stability considerations. An overview is given about the most common actuators and the principles for control allocations. Simulation results are presented for the backstepping control of a multipurpose naval vessel including surge, sway, roll and yaw interactions in the nonlinear dynamic model.

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Metadata
Title
Nonlinear Control of Surface Ships
Authors
Prof. Béla Lantos
Dr. Lőrinc Márton
Copyright Year
2011
Publisher
Springer London
DOI
https://doi.org/10.1007/978-1-84996-122-6_7