Abstract
The main purpose of this paper is put on realizing high accuracy tracking and berthing maneuvering using Brysonn-Ho's discrete varying gain controller (DTVLQC). The authors adopt the discrete model in order to represent ship's maneuvering motion, because of the easiness in model fitting technique and effectiveness of the fitted model. The ship's motions are adaptively identified using a RLS method and the optimal variable gains under the quadratic evaluation index are calculated. Lastly in order to verify the effectiveness of these methods, we report and discuss about the results of the actual onboard experiments.
