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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/28046

Title: Autopilot Design for Track-keeping and Berthing of a Small Boat
Authors: C.Y.Tzeng;S.D.Lee;Y.L.Ho;W.L.Lin
Contributors: NTOU:Department of Communications Navigation and Control Engineering
Date: 2006-10-08
Issue Date: 2011-10-21T02:35:42Z
Publisher: IEEE International Conference on Systems Man and Cybernatics
Abstract: Abstract:A real time kinematic (RTK) GPS-based track-keeping and berthing control of a small boat is discussed in this work. The internal model control (IMC) method is adopted for the autopilot design. The track-keeping mission is achieved through a sequence of course-changing maneuvers and the reference heading is computed with the proposed modified 4-quadrant line-of-sight guidance law. The dynamic allocation problem associated with the multi-thruster berthing maneuver is solved by a simple empirical method that selects the proper thrusters combination to give a nearly pure sway motion. Computer simulations are carried out to determine the feasible controller parameters, which are found readily applicable in the small boat-based field tests conducted in the small boat harbour of the National Taiwan Ocean University.
Relation: 1, pp.669-674
URI: http://ntour.ntou.edu.tw/handle/987654321/28046
Appears in Collections:[通訊與導航工程學系] 演講及研討會

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