ONLINE ESTIMATION OF SHIP STEERING DYNAMICS AND ITS APPICATIONS IN DESIGNING AN OPTIMAL AUTOPILOT

Minh-Duc LE, Hai-Nam Nguyen

Abstract

Recursive Least Square (RLS) Algorithm applied to a Multivariate Auto-Regressive (MAR) process is used to estimate ship steering dynamics online. The estimation method is then linked to the Linear Quadratic (LQ) Algorithm to design an optimal autopilot for steering ships. The estimation method was applied to several ships and model ships and in all the cases the estimated parameters converged well. The design algorithm was used to construct a tracking system for course keeping and course changing maneuvers. Simulation results for the ships show the robustness of the estimation method and prove that the autopilot has very good performance.

References

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Paper Citation


in Harvard Style

LE M. and Nguyen H. (2005). ONLINE ESTIMATION OF SHIP STEERING DYNAMICS AND ITS APPICATIONS IN DESIGNING AN OPTIMAL AUTOPILOT . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 138-143. DOI: 10.5220/0001189201380143


in Bibtex Style

@conference{icinco05,
author={Minh-Duc LE and Hai-Nam Nguyen},
title={ONLINE ESTIMATION OF SHIP STEERING DYNAMICS AND ITS APPICATIONS IN DESIGNING AN OPTIMAL AUTOPILOT},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={138-143},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001189201380143},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - ONLINE ESTIMATION OF SHIP STEERING DYNAMICS AND ITS APPICATIONS IN DESIGNING AN OPTIMAL AUTOPILOT
SN - 972-8865-30-9
AU - LE M.
AU - Nguyen H.
PY - 2005
SP - 138
EP - 143
DO - 10.5220/0001189201380143