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ix | |
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xiii | |
| Abstract |
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xv | |
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1 | (14) |
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Introduction to Ship Motion Control Problem |
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1 | (3) |
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Review on Ship Motion Control Strategies |
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4 | (3) |
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Yacht Motion Control Problems |
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7 | (4) |
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The Overlooked Study on Yacht Motion Control |
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7 | (1) |
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What Is the Difference of Yacht Motion Control? |
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8 | (1) |
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9 | (2) |
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What Is the New Contribution In This Book? |
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11 | (1) |
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How Is This Book Organized? |
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12 | (3) |
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Yacht Mathematic Modelling: Hydrodynamics Analysis |
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15 | (22) |
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15 | (1) |
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The Yacht Motion Coordinate Frame |
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15 | (1) |
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Derivation of Motion Equations for Marine Vessels |
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16 | (6) |
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A Particular Case of Ship Motion Analysis |
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18 | (2) |
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The More General Case of Ship Motion Analysis |
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20 | (1) |
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Simplification on Ship Motion Equations |
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21 | (1) |
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Yacht Hydrodynamics Analysis |
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22 | (4) |
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26 | (4) |
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27 | (1) |
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Wave and Current Disturbances |
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27 | (3) |
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Simulink™ Implementation of the Chosen 12-metre America's Cup Yacht |
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30 | (3) |
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33 | (4) |
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Yacht Mathematic Modelling: Parameter Identification |
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37 | (14) |
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37 | (1) |
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Yacht's Model Identification and Simplification |
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38 | (3) |
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Recursive Prediction Error Method (RPEM) |
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38 | (2) |
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Identification of Transfer Function |
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40 | (1) |
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Numeric Results of Yacht Identification |
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41 | (8) |
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Spectrum Analysis on Heading, Rolling and Rudder Angles |
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42 | (1) |
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Responses of Yaw and Roll Motion to the Rudder |
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43 | (1) |
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Sensitivity to Wind Disturbances |
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44 | (2) |
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Illustrations on Parameter Estimation |
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46 | (3) |
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49 | (2) |
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Adaptive Self-Tuning PID Yacht Autopilots: LQR Approach |
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51 | (22) |
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51 | (1) |
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LQR Self-tuning PID Autopilot Design |
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52 | (10) |
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LQR Self-tuning PD Control Algorithm |
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52 | (4) |
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LQR Self-tuning PID Control Algorithm |
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56 | (4) |
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Analysis of the PD and PID Autopilot Algorithms |
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60 | (2) |
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Simulations and Results Comparisons |
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62 | (6) |
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Simulations on LQR Tuned PD Autopilots |
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63 | (2) |
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Simulations on LQR Tuned PID Autopilots |
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65 | (3) |
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68 | (3) |
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71 | (2) |
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Adaptive Self-tuning PD Yacht Steering Control: H∞ Approach |
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73 | (20) |
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73 | (1) |
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H∞ Auto-tuning PD Autopilot Design |
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73 | (10) |
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74 | (1) |
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H∞ Tuned PD Autopilot Design |
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74 | (4) |
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Constraints Analysis on Choosing Parameters ω0 and ξ |
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78 | (5) |
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83 | (7) |
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Calm Sea Steering Control |
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84 | (1) |
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Comparisons on Robust and Adaptive H∞ Tuned PD Autopilot |
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84 | (4) |
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Comparisons on Adaptive H∞ PD and LQR Tuned PD/PID Autopilots |
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88 | (2) |
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90 | (2) |
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92 | (1) |
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Adaptive Yacht Rudder-Roll Damping and Steering Control |
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93 | (14) |
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93 | (1) |
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Yacht Steering and Roll Damping Control: Adaptive LQR Strategy |
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94 | (4) |
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LQR Steering Autopilot Design |
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95 | (1) |
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LQR Roll Damping Controller Plus PD Steering Control |
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96 | (1) |
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LQR Steering and Roll Damping Controller |
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97 | (1) |
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LQR Steering and Roll Damping Control Simulation |
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98 | (8) |
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Comparison of PID and Adaptive LQR Autopilots for Yacht Steering Control |
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99 | (1) |
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Simulation Analysis of the Designed Adaptive LQR Roll Damping Autopilots |
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99 | (3) |
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Results Analysis of the Designed LQR Steering and Roll Damping Autopilots |
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102 | (4) |
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106 | (1) |
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Online Adaptive LQR Autopilot Design Based on Genetic Algorithms |
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107 | (20) |
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107 | (1) |
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Review of Genetic Optimization |
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108 | (2) |
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The Online Adaptive LQR Autopilot Design by GA Algorithm |
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110 | (7) |
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Brief Review of the Yacht Mathematical Model |
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110 | (1) |
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Review of Adaptive LQR Autopilot Design |
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111 | (1) |
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The Development of a Full-Adaptive LQR Controller Tuned by GA |
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112 | (5) |
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117 | (9) |
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Determination of Minimum Size of Population and Generation |
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117 | (2) |
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Control Performance Comparison on the Ship ``Sea Scout'' |
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119 | (3) |
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Control Performance Comparison on the Yacht |
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122 | (4) |
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126 | (1) |
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Conclusions and Future's Work |
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127 | (4) |
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127 | (1) |
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Suggestions for Future Research |
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128 | (3) |
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131 | (6) |
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Measurements for the 12-metre America's Cup Racing Yacht |
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131 | (1) |
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Coefficients for the 12-metre America's Cup Racing Yacht |
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132 | (1) |
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Added Mass of the Simulated Yacht |
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132 | (5) |
| References |
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137 | (10) |
| Index |
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147 | |
