AN APPLICATION OF THE OPTIMAL REGULATOR THEORY TO SHIP MANOEUVRING CONTROL

The solution of an optimal control problem with magnitude- constrained input is computed for the manoeuvring motion of a large tanker equipped with a rudder and a bow thruster. Computation for the control input based on the linear optimal regulator theory is carried out, taking into account the magnitude constraint on the input due to state feedback. It is indicated that the latter solution almost agrees with the former solution when the interval of the integration providing the performance function is increased significantly. The paper deals with parallel course shift manoeuvre induced by control forces on the rudder and the bow thruster. The manoeuvring motion in which the drifting angle or heading angle is kept sufficiently small is examined. Considering the effect of the input saturation, some features of the behaviour of the control forces are discussed.

  • Supplemental Notes:
    • J Japan Inst Navigation, v 92, March 1995, p 185 [8 p, 10 ref, 1 tab, 10 fig]
  • Authors:
    • Yumuro, A
    • MASUDA, N
    • Araki, K
  • Publication Date: 1995

Language

  • Japanese

Subject/Index Terms

Filing Info

  • Accession Number: 00710973
  • Record Type: Publication
  • Source Agency: British Maritime Technology
  • Files: TRIS
  • Created Date: Aug 14 1995 12:00AM