操縦運動制御問題における最適レギュレータ入力の取扱いについて

概要

論文の詳細を見る
The solusion of an optimal control problem with magnitude-constrained input is computed for maneuvering motion of a tanker type ship equipped with a rudder and a bow thruster. And the computation for the control input based on the linear optimal regulator theory is made by taking account of magnitude constraint on the input due to state feedback. It is indicated that the latter solution almost agrees with the former solution when the interval of the integration providing the performance function is increased significantly. This report deals with parallel course shift maneuver induced by control forces on the rudder and the bow thruster. The maneuvering motion in which drifting angle or heading angle is kept sufficiently small is examined. Considering effect of the input saturation, some features of the behaviour of the control forces are presented and discussed.
社団法人日本航海学会の論文
1995-03-25