A nonlilear controller for ship autopilots

Le Thanh Tung


Conventional ship autopilots are designed based on a
linear ship model using pole - placement technique or linear optimal theory.  However, in operation, the ship kinematical parameters can go out the linear  limits. In this paper, a nonlinear optimal control law based on aggregated  variables is presented. The criterion is chosen so that the dynamic  characteristics of object are included. The stability of the closed-loop  system is global according to the Lyapunov stability theory. The control law
depends explicitly on ship model parameters, so that it is can be easily to  tune when the parameters change.


Ship autopilot, nonlinear control, aggregated regulator, aggregated variable.

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DOI: https://doi.org/10.15625/0866-7136/34/3/2360 Display counter: Abstract : 93 views. PDF : 37 views.


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