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Semiglobal exponential output feedback control of ships

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2 Author(s)
Vik, B. ; Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway ; Fossen, T.I.

This paper describes a semiglobal exponentially stable output feedback control law for automatic heading control of ships described by a nonlinear model. Only compass (yaw angle) feedback is used. The yaw rate signal is reconstructed by a linear observer. A wave filter is included in the observer to reduce wear and tear on the rudder servo due to first-order wave-induced disturbances. Integral action is included in the control law to compensate for wave drift (second-order wave disturbances), low-frequency wind, and current disturbances. The performance and robustness of the controller are demonstrated in a simulation study of two medium-sized ships

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Control Systems Technology, IEEE Transactions on  (Volume:5 ,  Issue: 3 )