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Publicações
Ferrari, V., Sutulo, S. e Guedes Soares, C. (2015), “Preliminary investigation on automatic berthing of waterjet catamaran”, Maritime Technology and Engineering, Guedes Soares, C. & Santos T.A. (Eds.), Taylor & Francis Group, London, UK, pp. 1105-1112.
In this paper a preliminary development of the PID control for automatic berthing of a catamaran with waterjet propulsion is presented. In particular, the problem of the safe approach to the quay is studied. The mathematical model of the ship manoeuvring and waterjet propulsion is discussed, then the PID algorithm is developed and applied to the case of a ship moving automatically towards the quay. Numerical simulations are presented and finally conclusions are drawn.
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