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Abstract

This paper addresses the control design for a nonlinear vessel manoeuvring model. The authors consider a highly nonlinear vessel 4 DOF model. The proposed control algorithm consists of a combination of an iteration technique that approximates the original nonlinear model by a sequence of linear time varying (LTV) equations whose solution converge to the solution of the original nonlinear problem and, a lead compensation design in which for each of the iterated linear time varying systems, the controller is optimized at each time on the interval. The control designed for the last iteration is then applied to the original nonlinear problem. Simulations results show good performance of this approximation methodology and accurate tracking for certain manoeuvring cases under the control of the designed lead controller. The main characteristic of the nonlinear system's response are the reduction of the settling time and the elimination of the steady state error and overshoot.

Publication Type:	Article
Additional Information:	© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Subjects:	T Technology > TC Hydraulic engineering. Ocean engineering
Departments:	School of Science & Technology > Engineering
SWORD Depositor:	Symplectic Administrator

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