Switching-Based Multi-Operational Control of Ship Motion

Opis

NomenclatureSummaryIntroduction1. Mathematical modeling of ship1.1. Introduction1.2. Kinematics1.3. Dynamics of the ship1.4. Simplified models of ship's dynamics2. Problems related to automatic control of ship motion2.1. Introduction2.2. Path planning2.3. Guidance2.4. Navigation2.5. Control3. Multi-operational control system for marine surface vessels3.1. Problem of ship motion control3.2. Switching systems used in control3.3. Structure of switching-based control system for ship motion3.4. Path planning3.5. Supervisor3.6. Estimating ship's speed3.7. Bank of controllers3.8. Conclusions4. Experiments with multi-operational control system for ships4.1. Setting of parameter values for control and navigation systems4.2. Case study of navigation scenario4.3. ConclusionsClosing remarksAppendicesAppendix A. Mathematical model of training ship blue ladyAppendix B. Discrete-time Kalman filterAppendix C. Sample desired pathAppendix D. Real-time software and hardware equipment