Marine Autopilots’ Multipurpose Control Laws Synthesis for Actuators Time Delay

Abstract

<jats:p>One analytical design problem involves constructing control laws for marine autopilot systems. Despite numerous known solutions, this problem can still be further developed by taking into account the actual conditions of the control system operation. An important issue for discussion is the feedback synthesis for marine ships with time delays in their rudders’ actuators. In this work, a new approach is proposed for providing all the desirable dynamic features of a closed-loop system with autopilot while taking into account the presence of a time delay. This approach is based on the predictive compensation of time delays via the specific transformation of an initially given reference controller with a special multipurpose structure. The applicability and effectiveness of the proposed method is further illustrated by a practical example of a controller design.</jats:p>

Optimal Damping Concept Implementation for Marine Vessels’ Tracking Control

“…In particular, the feedback (26) may have a multipurpose structure, which is presented in detail in [22,27] for linear time-invariant case. Its implementation taking into account control time-delay is investigated in the paper [28].…”

“…In general, the present study is an extension of the multipurpose approach proposed in [22][23][24][25][26][27] and developed in [28] with respect to the marine autopilot control laws with the novel structure, taking into account actuators' time delays.…”

Path-Following Control Method for Surface Ships Based on a New Guidance Algorithm

“…Sun et al [24] proposed a feedback linearization optimal heading control algorithm to effectively control a ship's course. Veremey et al [25] proposed a new approach for the compensative transformation of reference dynamic output controllers. Du et al [26,27] used adaptive robust nonlinear control to adjust a ship's course and track.…”