A survey on Nonlinear Ship Control: from Theory to Practice

Abstract This talk starts with the early history of ship autopilot design including the history and invention of the gyroscope and the celebrated “three-term-controller” which today is known as the PID-controller. Then a brief history of model based ship control systems with focus on the application of nonlinear theory to ship control is presented. The presentation describes the most recent results on nonlinear ship control in the period 1990-2000. This includes new results on nonlinear control system design for station-keeping (dynamic positioning and positioning mooring), autopilots for course-keeping and tracking control, (way-point, path and trajectory control), and underactuated control. A nonlinear separation principle for combination of a nonlinear full state feedback controller with a state observer in cascade is also presented. This is quite useful when desinging output feedback controllers since it guarantees globally stable combinations of different controllers and observers where the observer is needed for reconstruction of the unmeasured states. For linear systems a similar result is available through the separation principle and the LQG design methodlogy.

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