可変ゲインによる自動着桟実験に関する研究

概要

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In this paper, the Bryson-Ho algorithm which was described in their famous book Applied Optimal Control is applied to the ship's tracking problem at low speed tracking and berthing problems. And all algorithm are tested by a real ship. In tracking at low speed, ship was controlled by only Bow Thruster (B/T) or by combination with B/T and rudder. In berthing test, ship's control algorithm is changed in depending on the ship's position. When a distance until berthing is over 2L m, the ship was controlled by only a rudder. And the ship's speed is reduced in depending on the distance. When the distance is within 2L m, it is tested the ship was controlled by 3 types of algorithm (Weather Vaning Dynamic Positioning System, TVLQC, Guidance Exponentially) using rudder and bow thruster.
社団法人日本航海学会の論文
2002-09-25