Paper: Adaptive autopilots for tankers

Authors:
C. G. Källström;K. J. Åström;N. E. Thorell;J. Eriksson;L. Sten
Affiliations:
Lund Institute of Technology, Department of Automatic Control, P.O. Box 725, S-220 07 Lund 7, Sweden;Lund Institute of Technology, Department of Automatic Control, P.O. Box 725, S-220 07 Lund 7, Sweden;Kockums Automation AB, Fack, S-201 10 Malmö, Sweden;Kockums Automation AB, Fack, S-201 10 Malmö, Sweden;Kockums Automation AB, Fack, S-201 10 Malmö, Sweden
Venue:
Automatica (Journal of IFAC)
Year:
1979

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Abstract

Two adaptive autopilots for ships are designed. The autopilots are based on velocity scheduling, a self-tuning regulator for steady state course keeping, a high gain turning regulator with variable structure and a Kalman filter. Methods for design of the autopilots are discussed. Results from simulations and full-scale experiments with three different tankers are presented. The autopilots are shown to work excellently under different load, speed, and weather conditions.