Autopilot and track-keeping simulation of an autonomous in-scale fast-ferry model

Authors:
Francisco J. Velasco;Elías Revestido;Eloy Lopez;Emiliano Moyano;M. Haro Casado
Affiliations:
Dept. Electronic Technology & Systems Engineering and Automatic Control, Univ. Cantabria, Santander, Cantabria, Spain;Dept. Electronic Technology & Systems Engineering and Automatic Control, Univ. Cantabria, Santander, Cantabria, Spain;Dept. Sciences and Navigation Techniques, Engines and Naval Architecture, Univ. País Vasco, Portugalete, Vizcaya, Spain;Dept. Applied Mathematics and Computing Sciences, Univ. Cantabria., E.T.S. de Ingenieros Industriales y Telecomunicaciones, Santander, Cantabria, Spain;Dept. Systems Engineering and Automatic Control, Electronic Technology & Electronics, University of Cáádiz, Faculty of Nautical Sciences, Puerto Real, Cádiz, Spain
Venue:
ICS'08 Proceedings of the 12th WSEAS international conference on Systems
Year:
2008

Citing 3
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Optimization techniques for tuning heading controllers of an autonomous inscale fast-ferry model

SMO'08 Proceedings of the 8th conference on Simulation, modelling and optimization

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Abstract

In this paper a 2-dimensional track-keeping system for an autonomous in-scale fast-ferry model TF- 120 is presented. The guidance system is based on line of sight guidance scheme using an identified model of the autonomous in-scale fast-ferry. The physical model is developed to be autonomous and is controlled remotely from a PC using Wi-Fi communications. The identification and validation of the model is obtained with turning circle maneuverings on the coastline off the Bay of Santander. The parametric model identified is used to design different classical control structures for heading autopilot. The results of simulation are presented showing the good performance of the guidance and control design.