Ti. Fossen et Mj. Paulsen, ADAPTIVE FEEDBACK LINEARIZATION APPLIED TO STEERING OF SHIPS (REPRINTED FROM PROCEEDINGS 1ST IEEE CONFERENCE CONTROL APPLICATIONS DAYTON OHIO 13-16, SEPTEMBER, 1992), Modeling, identification and control, 14(4), 1993, pp. 229-237
This paper describes the application of feedback linearization to auto
matic steering of ships. The flexibility of the design procedure allow
s the autopilot to be optimized for both course-keeping and course-cha
nging manoeuvres. Direct adaptive versions of both the course-keeping
and turning controller are derived. The advantages of the adaptive con
trollers are improved performance and reduced fuel consumption. The ap
plication of nonlinear control theory also allows the designer in a sy
stematic manner to compensate for nonlinearities in the control design
.