Yacht modelling and adaptive control / Chengmo Xiao and Sing Kiong Nguang.

Includes bibliographical references (pages 137-146) and index.

Print version record.

YACHT MODELLING AND ADAPTIVECONTROL; YACHTMODELLINGANDADAPTIVECONTROL; Contents; List of Tables; List of Figures; Abstract; Introduction; 1.1. Introduction to Ship Motion Control Problem; 1.2. Review on Ship Motion Control Strategies; 1.3. Yacht Motion Control Problems; 1.3.1. The Overlooked Study on Yacht Motion Control; 1.3.2. What Is the Difference of Yacht Motion Control?; 1.3.3. Why Adaptive Control?; 1.4. What Is the New Contribution In This Book?; 1.5. How Is This Book Organized?; Yacht Mathematic Modelling:Hydrodynamics Analysis; 2.1. Introduction.

2.2. The Yacht Motion Coordinate Frame2.3. Derivation of Motion Equations for Marine Vessels; 2.3.1. A Particular Case of Ship Motion Analysis; 2.3.2. The More General Case of Ship Motion Analysis; 2.3.3. Simplification on Ship Motion Equations; 2.4. Yacht Hydrodynamics Analysis; 2.5. Disturbances Analysis; 2.5.1. Wind Disturbance; 2.5.2. Wave and Current Disturbances; 2.6. SimulinkTM Implementation of the Chosen 12-metreAmerica's Cup Yacht; 2.7. Summary; Yacht Mathematic Modelling:Parameter Identification; 3.1. Introduction; 3.2. Yacht's Model Identification and Simplification.

3.2.1. Recursive Prediction Error Method (RPEM)3.2.2. Identification of Transfer Function; 3.3. Numeric Results of Yacht Identification; 3.3.1. Spectrum Analysis on Heading, Rolling and Rudder Angles; 3.3.2. Responses of Yaw and Roll Motion to the Rudder; 3.3.3. Sensitivity to Wind Disturbances; 3.3.4. Illustrations on Parameter Estimation; 3.4. Summary; Adaptive Self-Tuning PID YachtAutopilots: LQR Approach; 4.1. Introduction; 4.2. LQR Self-tuning PID Autopilot Design; 4.2.1. LQR Self-tuning PD Control Algorithm; 4.2.2. LQR Self-tuning PID Control Algorithm.

4.2.3. Analysis of the PD and PID Autopilot Algorithms4.2.3.1. Boundaries on w0 and x; 4.2.3.2. Gains Comparison on LqrPD and LqrPID Autopilots; 4.3. Simulations and Results Comparisons; 4.3.1. Simulations on LQR Tuned PD Autopilots; 4.3.2. Simulations on LQR Tuned PID Autopilots; 4.4. Stability Analysis; 4.5. Summary; Adaptive Self-tuning PD YachtSteering Control: H{605} Approach; 5.1. Introduction; 5.2. H{605} Auto-tuning PD Autopilot Design; 5.2.1. Review of H{605} Theory; 5.2.2. H{605} Tuned PD Autopilot Design; 5.2.3. Constraints Analysis on Choosing Parameters w0 and x; 5.3. Simulations Study.

5.3.1. Calm Sea Steering Control5.3.2. Comparisons on Robust and Adaptive H{605} Tuned PD Autopilot; 5.3.3. Comparisons on Adaptive H{605} PD and LQR Tuned PD/PID Autopilots; 5.4. Stability Study; 5.5. Summary; Adaptive Yacht Rudder-RollDamping and Steering Control; 6.1. Introduction; 6.2. Yacht Steering and Roll Damping Control:Adaptive LQR Strategy; 6.2.1. LQR Steering Autopilot Design; 6.2.2. LQR Roll Damping Controller Plus PD Steering Control; 6.2.3. LQR Steering and Roll Damping Controller; 6.3. LQR Steering and Roll Damping Control Simulation.

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