In this study, the motion control problem of the vessel towed by a towing ship (tugboat) is
considered. The non-powered towed ship is dragged by the towing ship. Even though the …

This paper considers USV heading controller using Adaptive PID and LQG controller. PID is
a conventional controller and the most industry controller. However, PID parameters are …

In this study, a motion control problem for the vessels towed by tugboats or towing ships on
the sea is considered. The towed vessels, such as barge ships, are used for several …

The paper presents a formalization of the collision avoidance problem, involving two ships at
sea, in terms of nonlinear optimal control theory with state space constraints. The optimal …

Zaprojektowano adaptacyjny układ stabilizacji kursu statku, opierając się na mode-lu
Nomoto. Jako algorytm sterowania przyjęto regulator optymalny LQR, natomiast identyfikacji …

The paper presents a proposal of automatic system design able to steer the ship along a
preset trajectory (route) at sea. Since a ship motion model used here is nonlinear the control …

In this study, a motion control problem for the vessels towed by tugboats or towing ships on
the sea is considered. The towed vessels including barge ships are need to have assistance …

This article describes a ship course stabilization system. It is based on the comput-er-borne
dynamical model. Such an approach, which uses also the fuzzy sets theory, forms a new …

Ruch statku po zadanej trajektorii ma miejsce w następujących przypadkach:• gdy trasa toru
wodnego prowadzi przez cieśninę, przy przejściu przez rejony z płyciznami lub innymi …

Sformułowano problem sterowania optymalnego wraz z podstawowym narzędziem do
wyznaczania sterowań optymalnych, jakim jest zasada maksimum Pontriagina. Opierając …