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Publications
Guedes Soares, C., Pascoal,R. and Rodrigues, B. (2005), “Roll-Yaw Regulation using Stabilizing Fins and Rudder in a Disturbance Observer based Compensator Scheme”, Maritime Transportation and Exploitation of Ocean and Coastal Resources, 2005, Guedes Soares, C., Garbatov, Y. and Fonseca, N. (Eds.), Taylor & Francis, London-UK, Vol. 1, pp. 763-770
A roll-yaw regulation system is designed having the disturbance observer as a main building block. The observer dynamics are much faster than the dynamics of the disturbance and therefore the slowly varying assumption holds. Disturbance feed-forward and linear quadratic regulation (LQR) feed-back are used in the controller. Numerical simulations of the responses for a vessel of the Portuguese Navy, without and with the compensator, are compared. This compensator may be used even at large angles of roll because of the feedback linearization-like formulation.
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