Adaptive Time Optimal Control for Ship Steering

[+] Author and Article Information
Masato Fukino, Masayoshi Tomizuka

Department of Engineering, University of California, Berkeley, CA 94720

J. Dyn. Sys., Meas., Control 108(3), 233-239 (Sep 01, 1986) (7 pages) doi:10.1115/1.3143772 History: Received May 11, 1986; Online July 21, 2009


This paper proposes an adaptive time optimal control algorithm for ship steering in course changes. Dynamics of the ship are presented by a third order differential equation model. The time optimal control law is obtained by applying the Successive Order Hightening Method. It is combined with a least squares type parameter estimation algorithm to obtain the adaptive time optimal controller. The proposed control scheme is evaluated by a computer simulation study.

Copyright © 1986 by ASME
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