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Intelligent Engineering Systems through Artificial Neural Networks Volume 18
Cihan H. Dagli
Cihan H. Dagli
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ASME Press
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The research work focuses on the development of a Direct Model Reference Adaptive Controller (DMRAC) for the purpose of Dynamic Positioning of a Ship. The Model of a Ship with three- degrees-of- freedom is used. The Concept of Dynamic Positioning is to control the horizontal motion of a ship in surge, sway and yaw exclusively by means of thrusters in the presence of environmental disturbances like wind, wave and currents. The ship is having three independent control inputs for surge, sway and yaw control. As we want to control the horizontal motion of ship, the multi-input multi output (MIMO) DMRAC output is a vector which provides thrust in each of the three degrees of freedom surge, sway and yaw, thus controlling the deviation of ship from the specified path or position to be kept. The system is then analyzed for its ability to respond effectively to varying environmental disturbances and the ability to keep the ship in desired position.

Formulation of Ship Model
Controller Design
Simulation Results
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