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Feasibility of disturbance‐accommodating control in steering of a large tanker
Author(s) -
Mears Barry C.,
Reid Robert E.
Publication year - 1985
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.4660060208
Subject(s) - autopilot , disturbance (geology) , kalman filter , control theory (sociology) , control engineering , linear quadratic gaussian control , controller (irrigation) , control (management) , basis (linear algebra) , propulsion , engineering , term (time) , computer science , mathematics , aerospace engineering , paleontology , agronomy , physics , geometry , quantum mechanics , artificial intelligence , biology
The feasibility of applying disturbance‐accommodating control (DAC) techniques to the problem of steering control of a large tanker in a seaway is examined. A performance criterion representative of propulsion losses related to steering is used as a basis for the design of course‐keeping controllers. The development of disturbance state models to take advantage of the short‐term regularity of the seaway within a DAC framework is presented. Comparisons are made between the performance resulting from the DAC approach and previous LQG approaches to the problem using computer simulation results. On this basis, it is shown that controller design within a DAC framework may be a viable alternative to existing Kalman filter estimation/control schemes used in autopilot design.