線形化モデルを用いた最適トラッキング制御に関する研究

概要

論文の詳細を見る
Recently, ship's operators are required to strictly keep the ship's arrival time to the destinating port. Moreover, they must accomplish the mission in cost performance as few as possible. On the other hand, the number of mariners engaging in especially inland navigation has become abruptly reducing. Under these conditions, the mariners cannot help but reduce their bridge works as much as possible. It is not exception in piloting the ship to the desired track line. Thus, it is required that not only course-keeping ability but also tracking one should be also installed with a ship's autopilot system. The authors are developing a new autopilot system with tracking ability. In this paper, we propose a simple tracking system which can be designed based on the mathematical model whose parameters we can estimate very easily using the experimental formula. After the model has been estimated by such a method, linearized and discretized, we can make a simple linearized discrete representation of the tracking problem. Then, we design a linear optimal controller for tracking. Finally, we try some actual on board experiments and analyze the results and pick up some future tasks to be resolved.
2007-09-25