Multivariable systems design: a two ships controller for replenishment at sea.

Abstract

An investigation of the maneuvering control of two ships in the replenishment at sea operation, seen as a multivariable system, is carried out. The mathematical model of the ships motion in three degrees of freedom is established and implemented for the formation of digital computer programs and approximated for the study of steady state decoupling. Using parameter optimization techniques, the necessary control loops are designed with the aid of a digital computer. The station keeping problem of the underway operation is simulated and the results compared and analyzed.