Kalman-Bucy Filter Design for Multivariable Ship Motion Control
Mirosław Tomera · 2011
Modern ships are equipped with complicated ship motion control systems, the goals of which depend on tasks realised by an individual ship. The tasks executed by the control system include, among other actions, controlling the ship motion along the course or a given trajectory (path following and trajectory tracking), dynamical positioning and reduction of ship rolls caused by waves. Figure 1 presents basic components of the ship motion control system.