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Published by: minhtaispkt on Nov 03, 2013
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June 2009Thor Inge Fossen, ITK
Master of Science in Engineering Cybernetics
Submission date:Supervisor:Norwegian University of Science and TechnologyDepartment of Engineering Cybernetics
Nonlinear Identification of ShipAutopilot Models
Vidar Ødegård
Problem Description
The purpose of the thesis is to develop methods for identification of nonlinear models to be used inship autopilots.The following elements must be considered:1. Literature study on nonlinear identification methods. Give a presentation of different autopilotmodels and identification methods found in the literature. Also include a discussion on stabilityand parameter convergence.2. Specify a sequence of ship maneuvers that can be used for identification.3. Estimate the parameters of the model using simulated and experimental data. Discuss theresults and presents results for parameter estimation/convergence. Also show which maneuversthat have best convergence properties.4. Simulate the system with a model-based autopilot in closed loop.5. Present your findings and theoretical results in the report.Assignment given: 12. January 2009Supervisor: Thor Inge Fossen, ITK

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