Publications

Moreira, L. and Guedes Soares, C. (2005), “Design of a Robust Steering AutoPilot for Ships”, Transportation and Exploitation of Ocean and Coastal Resources, Guedes Soares, C., Garbatov, Y. e Fonseca, N. (Eds.), Taylor & Francis, London, UK, Vol. 1, pp. 745-754

In this paper a steering autopilot is developed based on a Linear Quadratic Regulator (LQR) and a state variable estimator, using a Kalman Filter (KF). The analysis of the performance of this Linear Quadratic Gaussian (LQG) controller is done and the results comparing different weights in the minimization of the quadratic cost functional inherent to the optimisation control problem are presented.

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