Conceptual Basis of Adaptive Autopilots
DOI:
https://doi.org/10.20535/1810-0546.2015.5.51172Keywords:
Adaptive ship motion control, Adaptive gyropilot, Ship model parameters identificationAbstract
Background. The paper is devoted to critical analysis of literature that covers the major aspects of adaptive ship motion control systems.
Objective. The objective of a study is identifying the promising areas of research in the field of adaptive ship motion control.
Methods. The analysis of existing approaches to ship model parameters identification (including identification during zig-zag motion, during circulation and identification using Kalman filtering) is done; advantages and disadvantages of those methods are determined. The methods mentioned can be used as a basis for creating adaptive gyropilots. A critical review of approaches to ship control by means of classical and modern methods of automatic control, including the parametric adjustment of classic PID regulators, switching of regulators, use of nonlinear regulators – linear-quadratic (LQ), sliding mode regulators, and artificial intelligence – neural networks, fuzzy logic and hybrid approaches, is done. Separately, in the survey analysis of papers of Ukrainian authors, which are devoted to the development of adaptive gyropilots and adaptive ship motion control, is presented.
Results. As a result of literature survey, prospective areas of studies in the field of adaptive ship control are determined.
Conclusions. Most promising research areas are:
1) development of novel approaches to the identification of the vessel model parameters and disturbances acting on it;
2) application of artificial intelligence, including fuzzy logic and neural networks, to adaptive ship control methods;
3) development of adaptive nonlinear systems for ship motion control.References
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