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




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Tomasz Neumann

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Gdynia Maritime University
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The Use of Backstepping Method to Ship Course Controller
1 Gdańsk University of Technology, Gdańsk, Poland
2 Gdynia Maritime University, Gdynia, Poland
ABSTRACT: The article systematises and perform approaches the new concept of the ship autopilot in which control rules are derived for nonlinear controllers designed with the aid of the backstepping method and used for controlling the ship's motion on its course. The objectives, approaches and problems were described. The design is very interesting has goals to create closed-loop systems with desirable stability properties in the regulation and tracking problems with a uniform asymptotic stability, rather than analyze the properties of a given system. The symulation were performed on the tanker model and were comparised in the system with PD controller.
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Citation note:
Witkowska A., Śmierzchalski R.: The Use of Backstepping Method to Ship Course Controller. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 1, No. 3, pp. 313-317, 2007

Other publications of authors:

A. Łebkowski, R. Śmierzchalski, W. Gierusz, K. Dziedzicki

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