Nonlinear Stability Analysis of Ship Autopilots in Sway, Roll and Yaw.pdfVIP

Nonlinear Stability Analysis of Ship Autopilots in Sway Roll and Yaw Thor I Fossen and Trygve Lauvdal Department of Engineering Cybernetics The Norwegian Institute of Technology University of Trondheim N Trondheim NOR WA Y e Telephone Telefax Email tifitkunitno Pro ceedings of the rd International Conference on Mano evring and Control of Marine Craft MCMC Southampton UK Septemb er Nonlinear Stability Analysis of Ship Autopilots in Sway Roll and Yaw Thor I Fossen and Trygve Lauvdal Department of Engineering Cyb ernetics The Norwegian Institute of Technology University of Trondheim Norway Abstract Combined heading control and rudderroll damping systems are dicult to analyze due to the complexity of the mathematical mo del required to describ e the nonlinear couplings in sway roll and yaw Except for linear systems no theoretical results with regard to robustness have b een presented In a linear analysis imp ortant nonlinear eects due to rigidb o dy dynamics hydro dynamics and kinematics are neglected This pap er is a rst attempt to analyze the swayrollyaw couplings for ships by applying the nonlinear stability theory of Isidori This is done for the linear and nonlinear ship mo dels of Son and Nomoto Keywords ship control rudderroll stabilization heading control nonlinear stability non minimum phase systems Intro duction Roll damping and simultaneous heading control by means of rudders have b een analyzed by numerous authors Baitis et al Blanke et al Blanke and Christensen Katebi et al Kallstrom Kallstrom et al Kallstrom and Schultz