@article{Kula_Tomera_2017,
	author = {Kula, Krzysztof and Tomera, Miroslaw},
	title = {Control System of Training Ship Keeping the Desired Path Consisting of Straight-lines and Circular Arcs},
	journal = {TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation},
	volume = {11},
	number = {4},
	pages = {711-719},
	year = {2017},
	url = {./Article_Control_System_of_Training_Ship_Kula,44,778.html},
	abstract = {Presented in this paper is a new, expanded approach to setting the planned route within restricted sea areas where there are permanent obstacles or other vessels, and then tracking it by the ship. In this project the desired path is represented using a combination of straight-lines and arcs. For this purpose a cascade control system of the ship motion has been designed. The task of the outer loop controller to prepare the reference signal is executed by the reference signal generator. The control of angular velocity takes place in an inner loop using IMC approach. Numerical simulation studies of control algorithms that have been developed for lake trials of the training ship are also carried out to demonstrate the effectiveness of the proposed tracking control system.},
	doi = {10.12716/1001.11.04.19},
	issn = {2083-6473},
	publisher = {Gdynia Maritime University, Faculty of Navigation},
	keywords = {Numerical Simulation, Ship Handling, Control System, Ship Handling Research and Training Centre at Ilawa, Poland, Model Ship, Enhancement of Maritime Safety, Ship Motion, Reference Signal Generator (RSB)}
}