A Nonlinear Power Feedback Improvement of the Ship Course-Keeping Controller

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">Lateral tactical diameter</td><td class="align_center">Longitudinal tactical diameter</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Real ship test</td><td class="align_center">3.75 L</td><td class="align_center">3.1 L</td></tr><tr><td class="align_left">Simulation</td><td class="align_center">3.05 L</td><td class="align_center">2.9 L</td></tr><tr><td class="align_left"><span style="width: 18.3375ptpx;"><svg height="11.8174pt" id="M32" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 18.3375 11.8174" width="18.3375pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M645 631C614 643 545 666 457 666C215 666 23 519 23 283C23 90 158 -16 337 -16C412 -16 489 2 522 10C543 39 590 127 606 167L580 181C519 89 459 18 348 18C201 18 122 136 122 287C122 464 244 632 435 632C544 632 602 595 608 472L639 475C643 526 645 581 645 631Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.619,3.132)"><path d="M1006 650H829L492 147L357 650H174L166 618C270 609 275 601 247 502L194 315C158 189 136 127 122 96C104 56 80 37 18 32L12 0H256L263 32C181 40 176 51 183 98C188 132 197 179 226 281L299 541H301L433 6H458L809 551H811L753 141C739 41 734 39 650 32L642 0H917L923 32C836 39 827 41 839 142L887 535C896 610 901 612 997 618L1006 650Z"></path></g></svg></span></td><td class="align_center">81.3%</td><td class="align_center">93.5%</td></tr><tr><td class="align_left"><span style="width: 18.4027ptpx;"><svg height="15.0796pt" id="M33" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -11.8981 18.4027 15.0796" width="18.4027pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><rect height="0.65243" width="8.71657" x="0" y="-11.1958"></rect><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M645 631C614 643 545 666 457 666C215 666 23 519 23 283C23 90 158 -16 337 -16C412 -16 489 2 522 10C543 39 590 127 606 167L580 181C519 89 459 18 348 18C201 18 122 136 122 287C122 464 244 632 435 632C544 632 602 595 608 472L639 475C643 526 645 581 645 631Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.717,3.132)"><path d="M1006 650H829L492 147L357 650H174L166 618C270 609 275 601 247 502L194 315C158 189 136 127 122 96C104 56 80 37 18 32L12 0H256L263 32C181 40 176 51 183 98C188 132 197 179 226 281L299 541H301L433 6H458L809 551H811L753 141C739 41 734 39 650 32L642 0H917L923 32C836 39 827 41 839 142L887 535C896 610 901 612 997 618L1006 650Z"></path></g></svg></span></td><td class="align_center" colspan="2">87.5%</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparison results of real ship test and simulation.</div>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: A Nonlinear Power Feedback Improvement of the Ship Course-Keeping Controller 