Modeling, guidance and control of "Esso Osaka" model

Authors:	Moreira Lúcia, Technical University of Lisbon, Portugal Fossen Thor I., Norwegian University of Science and Technology, Norway Guedes Soares Carlos, Technical University of Lisbon, Portugal
Topic:	7.2 Marine Systems
Session:	Marine Systems III
Keywords:	Path following, Ship control systems, Guidance system, Model ship.

Abstract

A guidance and control system is introduced and applied to ship path following using two controls. The guidance system is derived through a waypoint guidance scheme based on line-of-sight projection algorithm and speed is controlled by a state feedback controller. An approach concerning the calculation of a dynamic line-of-sight vector norm is presented and the results are compared with the traditional line-of-sight scheme. It is intended that the complete system will be implemented in a scale model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system.