逐次予測誤差法を用いた極配置制御型オートパイロットに関する研究

抄録

This paper presents a new method of designing a self-tuning pole assignment (PA) type of autopilot for ships. The design method applies the recursive prediction error (RPE) algorithm as an online estimator linking to the self-tuning pole assignment algorithm to construct an adaptive autopilot. Main tasks of designing a robust pole assignment type of autopilot are to model the ship dynamic system in an suitable form and to construct the control algorithm. To calculate control gains of the pole assignment control type of autopilot is often based on the ship steering dynamic coefficients identified by an appropriate online estimation method. The new design method is developed from the design method of the conventional pole assignment type of autopilot which was proposed by D.H. Nguyen et al. by applying the recursive least squares (RLS) algorithm linking to the pole assignment control algorithm. Full-scale experiments aboard the training ship at sea are briefly described. The pole assignment type of autopilot using the RPE method has good steering characteristics for course-keeping and course-changing control of ship.