Universität Rostock, 2019
Abstract: In this thesis, a control system is presented which enables path following operations of maneuvering marine vehicles. It is based on a novel control-oriented model approach that introduces a decoupled, parameter-variable structure. For automatic vessel maneuvering a generic control system with model-based control and robust multi-variable control was designed and integrated into a hybrid structure. Systematic experiments were performed using unmanned surface vehicles and a commercial ship handling simulator.
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