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  • 标题:可変ゲインによる航路誘導制御に関する研究
  • 本地全文:下载
  • 作者:福田 人意 ; 大津 皓平 ; 田崎 哲夫
  • 期刊名称:日本造船学会論文集
  • 印刷版ISSN:0514-8499
  • 电子版ISSN:1884-2070
  • 出版年度:2001
  • 卷号:2001
  • 期号:190
  • 页码:715-722
  • DOI:10.2534/jjasnaoe1968.2001.190_715
  • 出版社:The Japan Society of Naval Architects and Ocean Engineers
  • 摘要:

    In this paper, a ship's tracking controller using an optimal tracking algorithm by the Bryson-Ho algorithm is proposed. In this system, the optimal controller by using the algorithm of time-varying linear-quadratic controller (TVLQC) steers a rudder so that the ship navigates on the desired track. When stationary disturbances like wind or current occur, a virtual track route in which the true desired track is appropriately shifted, is introduced. In the latter part of this paper, as a tracking by TVLQC in low speed a tracking using bow thruster is discussed. The possibilities of the proposed algorithm are tested in simulations and actual ship's tracking experiments using an actual ship.

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