A globally stable autopilot with wave filter using only yaw angle measurements

Autor:	Trygve Lauvdal, Thor I. Fossen
Jazyk:	angličtina
Rok vydání:	1996
Předmět:	Global stability adaptive ship autopilot output feedback notch filtering integral action Electronic computers. Computer science QA75.5-76.95
Zdroj:	Modeling, Identification and Control, Vol 17, Iss 2, Pp 107-119 (1996)
Druh dokumentu:	article
ISSN:	0332-7353 1890-1328
DOI:	10.4173/mic.1996.2.4
Popis:	A stable minimum phase transfer function from rudder angle to yaw angle is used to design a globally stable adaptive ship autopilot. First-order wave disturbances in yaw are filtered by applying a notch filter. Integral action is introduced by using a reference model technique. Global stability is proven for the total system which include the yaw rate observer, the parameter update law, the feedback controller, the notch filter and the integral part of the controller. The simulation results showed that the performance is excellent, even with no a priori knowledge of the ship parameters.
Databáze:	Directory of Open Access Journals
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