In this paper, we propose to use a Generalized Proportional-Integral controller for station-keeping of a ship. For output feedback, this has the advantage of not requiring the use of an asymptotic Luenberger or Kalman observer. After describing the methodology for the simple case of controlling the low-frequency linear model of a ship, and for which a very simple simulation is presented to illustrate the behavior of the GPI controller, we present the extension of the method to include a wave-frequency model that we then use for station-keeping in extreme seas. Simulations are presented to illustrate the potential of the approach.
Ship control; station-keeping; GPI controllers
Main Research Area:
<em>IFAC Conference on Manoeuvering and Control of Marine Craft (MCMC 2006)</em>