Algorithms for track-keeping problem. experiments performed on material tanker model

摘要

Two autopilots for track-keeping of the ship along the defined trajectory are described in the article: a linear quadratic ouput feedback controller and a cascaded robust controller. Both are using the rudder as the only control-actuator. The paper presents mathematical foundations of the problem, filtering techniques, and results of the simulations performed on a material ship model on the Silm Lake.