Switching-Based Multi-Operational Control of Ship Motion

Opis

Switching-Based Multi-Operational Control of Ship Motion. Nomenclature

Summary

Introduction

1. Mathematical modeling of ship

1.1. Introduction

1.2. Kinematics

1.3. Dynamics of the ship

1.4. Simplified models of ship's dynamics

2. Problems related to automatic control of ship motion

2.1. Introduction

2.2. Path planning

2.3. Guidance

2.4. Navigation

2.5. Control

3. Multi-operational control system for marine surface vessels

3.1. Problem of ship motion control

3.2. Switching systems used in control

3.3. Structure of switching-based control system for ship motion

3.4. Path planning

3.5. Supervisor

3.6. Estimating ship's speed

3.7. Bank of controllers

3.8. Conclusions

4. Experiments with multi-op