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Open AccessArticle

Effectiveness of Multidimensional Controllers Designated to Steering of the Motions of Ship at Low Speed

Department of Ship Automation, Gdynia Maritime University, 81-225 Gdynia, Poland
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Author to whom correspondence should be addressed.
Sensors 2020, 20(12), 3533; https://doi.org/10.3390/s20123533
Received: 5 May 2020 / Revised: 14 June 2020 / Accepted: 15 June 2020 / Published: 22 June 2020
(This article belongs to the Section Remote Sensors)
The article described two full multidimensional controllers applied to steer a real vessel named ‘Blue Lady’ that is used by the Foundation for Safety of Navigation and Environment Protection at its training and research facility loacted at Silm lake in Poland. Both controllers were based on different approaches, but finally gave similar results. The first part describes the object to be controlled which is a training ship used for training of navigators in various conditions, areas and manoeuvres. This is followed by a short description of the theory for both controllers, Robust and Linear Matrix Inequalities (LMI). Next real time trials are described, which are 3 different manouvers for low velocities, executed by both LMI and Robust contrllers. In these trials ‘Blue Lady’ velocities, silhouete trajectory ans wind data are recorded. Finally the quality of work for both controllers is collected in two tables. View Full-Text
Keywords: multivariable system control; linear matrix inequalities; robust control; H matrix norm and H2 matrix norm multivariable system control; linear matrix inequalities; robust control; H matrix norm and H2 matrix norm
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MDPI and ACS Style

Gierusz, W.; Rybczak, M. Effectiveness of Multidimensional Controllers Designated to Steering of the Motions of Ship at Low Speed. Sensors 2020, 20, 3533. https://doi.org/10.3390/s20123533

AMA Style

Gierusz W, Rybczak M. Effectiveness of Multidimensional Controllers Designated to Steering of the Motions of Ship at Low Speed. Sensors. 2020; 20(12):3533. https://doi.org/10.3390/s20123533

Chicago/Turabian Style

Gierusz, Witold; Rybczak, Monika. 2020. "Effectiveness of Multidimensional Controllers Designated to Steering of the Motions of Ship at Low Speed" Sensors 20, no. 12: 3533. https://doi.org/10.3390/s20123533

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