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Lectures on ship hydrodynamics--steering and manoeuvrability

01 May 1964-
About: The article was published on 1964-05-01 and is currently open access. It has received 171 citations till now.
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Journal ArticleDOI
TL;DR: In this article, a model predictive control (MPC) scheme with line-of-sight (LOS) path generation capability is formulated for a way-point tracking of underactuated surface vessels with input constraints.

263 citations


Cites methods from "Lectures on ship hydrodynamics--ste..."

  • ...The form of the hydrodynamic models used in Oh et al. (2009) is taken from Abkowitz (1964) and is shown in Eqs....

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Journal ArticleDOI
TL;DR: System identification techniques are applied to determine ship steering dynamics and parameters of a linear continuous time model are determined using discrete time measurements using the maximum likelihood method.

192 citations

Journal ArticleDOI
TL;DR: In this article, a nonlinear dynamic manoeuvering model of a ship with numerical values is presented, where the objective is to manoeurve a ship along desired paths at different velocities.
Abstract: Complete nonlinear dynamic manoeuvering models of ships, with numerical values, are hard to find in the literature. This paper presents a modeling, identification, and control design where the objective is to manoeuver a ship along desired paths at different velocities. Material from a variety of references have been used to describe the ship model, its difficulties, limitations, and possible simplifications for the purpose of automatic control design. The numerical values of the parameters in the model is identified in towing tests and adaptive manoeuvering experiments for a small ship in a marine control laboratory.

173 citations

Journal ArticleDOI
TL;DR: This article presents a unified state-space model for ship maneuvering, station-keeping, and control in a seaway by separating the vessel model into a low-frequency model and a wave- frequencies model, which is commonly used for simulation.
Abstract: This article presents a unified state-space model for ship maneuvering, station-keeping, and control in a seaway. The frequency-dependent potential and viscous damping terms, which in classic theory results in a convolution integral not suited for real-time simulation, is compactly represented by using a state-space formulation. The separation of the vessel model into a low-frequency model (represented by zero-frequency added mass and damping) and a wave-frequency model (represented by motion transfer functions or RAOs), which is commonly used for simulation, is hence made superfluous.

164 citations


Cites methods from "Lectures on ship hydrodynamics--ste..."

  • ...Truncated Taylor series expansions [Abkowitz, 1964]....

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  • ...The nonlinear parametrizations used in maneuvering theory are usually classified according to [Clarke, 2003]: Truncated Taylor series expansions [Abkowitz, 1964]....

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Journal ArticleDOI
TL;DR: The paper describes the development, analysis, and experimental implementation of two trajectory tracking control algorithms: a cascade of proportional-derivative controllers and a nonlinear controller obtained through backstepping that is much more effective at tracking trajectories with highly variable speed and course angle.
Abstract: This paper describes planar motion modeling for an unmanned surface vehicle (USV), including a comparative evaluation of several experimentally identified models over a wide range of speeds and planing conditions. The modeling and identification objective is to determine a model that is sufficiently rich to enable effective model-based control design and trajectory optimization, sufficiently simple to allow parameter identification, and sufficiently general to describe a variety of hullforms and actuator configurations. We focus, however, on a specific platform: a modified rigid hull inflatable boat with automated throttle and steering. Analysis of experimental results for this vessel indicates that Nomoto's first-order steering model provides the best compromise between simplicity and fidelity at higher speeds. At low speeds, it is helpful to include a first-order lag model for sideslip. Accordingly, we adopt a multiple model approach in which the model structure and parameter values are scheduled based on the nominal forward speed. The speed-scheduled planar motion model may be used to generate dynamically feasible trajectories and to develop trajectory tracking control laws. The paper describes the development, analysis, and experimental implementation of two trajectory tracking control algorithms: a cascade of proportional-derivative controllers and a nonlinear controller obtained through backstepping. Experimental results indicate that the backstepping controller is much more effective at tracking trajectories with highly variable speed and course angle. © 2013 Wiley Periodicals, Inc.

144 citations


Cites methods from "Lectures on ship hydrodynamics--ste..."

  • ...The model of Abkowitz (1964) combines the planar rigid body equations with a third-order Taylor series expansion of the hydrodynamic forces and moments....

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  • ...The nonlinear model of Abkowitz (1964) includes a third-order truncated Taylor series expansion of the hydrodynamic forces and moment....

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