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
Problem of Stopping Vessel at the Waypoint for Full-Mission Control Autopilot
1 Gdynia Maritime University, Gdynia, Poland
2 Vietnam Maritime University, Haiphong, Vietnam
ABSTRACT: The paper presents a controlling method to control vessel of a full mission autopilot at the transitional phase when vessel reduce speed from navigation speed down to manoeuvring speed while she accesses to the manoeuvring waypoint, where the vessel is started control in manoeuvring mode. The vessel is controlled by three propellers: the bow thruster, the stern thruster and the main propeller. The autopilot is designed with 5 fuzzy logic controllers. It works in Matlab-Simulink and tested on a scaled physical model of a tanker in the lake environment.
Rak A., Nguyen Cong V., Pomirski J, Morwaski L. 2005. Simulation and real-time control of scale ship model in Matlab-Simulink environment. 16th Conference HYDMAN’05, Ostroda, Poland
Fosen T.I., 2002. Marine Control Systems. Marine Cybernetics, Trondheim, Norway.
Gierusz W. 2005. Simulation model of the ship handling training boat Blue Lady
Morawski L., Nguyen Cong V., Rak A. 2008. Full-Mission Ma-rine Autopilot Based on Fuzzy Logic Techniques. Gdynia. Poland
Nguyen Cong V. & Morawski L. 2006 Track keeping autopilot with fuzzy logic controller. 6th ASIA CONFERENCE. Haiphong Vietnam
Nguyen Cong V., 2007. The synthesis of trajectory regulator using fuzzy logic theory in a marine vessel autopilot. Gdynia. Poland
Citation note:
Morawski L., Nguyen Cong V.: Problem of Stopping Vessel at the Waypoint for Full-Mission Control Autopilot. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 4, No. 2, pp. 151-156, 2010

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