Abstract
The feasibility of using TPMRC based adaptive LQ regulators for tankers has been explored. In TPMRCs for tankers, feedback control relies on measurements obtained by multirate sampling of the heading angle, while the helm angle is constrained to a certain piecewise constant signal. The proposed control strategy is very simple, since it reduces the original problems to an associate discrete problem for which a fictitious state feedback controller is needed to be computed. The proposed TPMRC based adaptive LQ regulator can possess any prescribed degree of stability, since there is the possibility of choosing the transition matrices of the controller arbitrarily. Persistency of excitation of the controlled system is assured without making assumptions on the plant under control, other than minimality and known order. Finally, the proposed techniques can be implemented easily by the use of digital computers. Simulation results show that the proposed autopilot has a satisfactory performance.
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© 1999 Springer-Verlag London Limited
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Paraskevopoulos, P.N., Arvanitis, K.G., Vernardos, A.A. (1999). Adaptive LQ optimal autopilots for tankers based on two-point multirate controllers. In: Tzafestas, S.G., Schmidt, G. (eds) Progress in system and robot analysis and control design. Lecture Notes in Control and Information Sciences, vol 243. Springer, London. https://doi.org/10.1007/BFb0110541
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DOI: https://doi.org/10.1007/BFb0110541
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