ISSN 2083-6473
ISSN 2083-6481 (electronic version)




Associate Editor
Tomasz Neumann

Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
www http://www.transnav.eu
e-mail transnav@am.gdynia.pl
Multivariable Adaptive Controller for the Nonlinear MIMO Model of a Container Ship
1 West Pomeranian University of Technology, Szczecin, Poland
ABSTRACT: The paper presents an adaptive multivariable control system for a Multi-Input, Multi-Output (MIMO) nonlinear dynamic process. The problems under study are exemplified by a synthesis of a course angle and forward speed control system for the nonlinear four-Degrees-of-Freedom (4-DoF) mathematical model of a single-screw, high-speed container ship. The paper presents the complexity of the assumed model to be analyzed and a synthesis method for the multivariable adaptive modal controller. Due to a strongly nonlinear nature of the ship movements equations a multivariable adaptive controller is tuned in relation to changeable hydrodynamic operating conditions of the ship. In accordance with the given operating conditions controller parameters are chosen on the basis of four measured auxiliary signals. The system synthesis is carried out by linearization of the nonlinear model of the ship at its nominal operating points in the steady-state and by means of a pole placement control method. The final part of the paper includes results of simulation tests of the proposed control system carried out in the MATLAB/Simulink environment along with conclusions and final remarks.
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Citation note:
Brasel M., Dworak P.: Multivariable Adaptive Controller for the Nonlinear MIMO Model of a Container Ship. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 8, No. 1, doi:10.12716/1001.08.01.05, pp. 41-47, 2014

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