Mj. Paulsen et O. Egeland, AN OUTPUT-FEEDBACK TRACKING CONTROLLER FOR SHIPS WITH NONLINEAR DAMPING TERMS, Modeling, identification and control, 17(2), 1996, pp. 97-106
A tracking controller with wave filter for ships with nonlinear manoeu
vring characteristics is derived. Only measurement of the yaw angle is
needed to assure global asymptotic stability of the yaw angle and yaw
rate of the ship about the desired yaw angle and yaw rate. A case stu
dy finally shows that the influence from the wave disturbances on the
rudder is attenuated in some frequency range.