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Publicações
Xu, H.T., Hinostroza, M.A. e Guedes Soares, C. (2018), “A hybrid controller design for ship autopilot based on free-running model test”, Maritime Transportation and Harvesting of Sea Resources, Guedes Soares, C. & Teixeira A.P. (Eds.), Taylor & Francis Group, London, UK, pp. 1051-1059
Ship steering control system is of critical important for autonomous surface vessels. In this paper, a nonlinear ship steering control system is designed for an underactuated surface ship based on the maneuvering tests using free-running model. A nonlinear ship steering model is introduced and the parameters are identified using least square support vector regression. The combined linear and nonlinear feedforward and feedback controller was designed for the heading control. Path following simulations were carried out based on a modified nonlinear Abkowitz model with the presence of the ocean current, and the vector field guidance law was also employed in the simulation program. The analysis show good path following performance for both linear and nonlinear controller. The combined nonlinear feedforward and feedback controller have a better performance and can improve the stability of the ship steering control.
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