先端制御応用による操船システムの多機能化に関する研究

抄録

There are demands for a versatile ship control system. The authors have developed a versatile and high performance system for ships by applying advanced control theories. The basic system utilizes a nonlinear actuator force distribution method. Command generators, determinate and indeterminate disturbance compensators, and a joystick manipulator are added to the system. Various control modes are available such as auto-speed keeping, auto-piloting, auto-position keeping, auto-tracking, and berthing. The ship control system design enables function expansion and broad application.