抄録
The course of a ship responding to a control (steering order) is represented by a linear differential equation of 3rd order, where the rudder angle is a state variable and constrained in a region. The theme of this report is the time optimal control for the alteration of the course of a ship.
The author introduces Successively Heightening Order Method to find a momentary control, which is the same as that given by the switching surfaces. The method utilizes the control law of 2nd order system with a state variable constraint. The control function of 2nd order system is applied to 3rd order mathematical model to estimate X1E=0, X2E=0, X3E≠0. Then, the control of the moment is given by -sgn (X3E).
The usefulness of the method is illustrated with the trajectories for some initial conditions, plotted by a digital computer.
