An output feedback tracking controller for ships with nonlinear damping terms
Marit Paulsen, Olav Egeland
Modeling, Identification and Control · 1996
doi:10.4173/mic.1996.2.3 (opens in a new tab)
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Abstract
A tracking controller with wave filter for ships with nonlinear manoeuvring characteristics is derived. Only measurement of the yaw angle is needed to assure global asymptotic stability of the yaw angle and yaw rate of the ship about the desired yaw angle and yaw rate. A case study finally shows that the influence from the wave disturbances on the rudder is attenuated in some frequency range.
Abstract licence: CC BY
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