Switching-Based Multi-Operational Control of...

This book offers an in-depth exploration of the mathematical modeling and automatic control of ship motion. It begins by discussing various models used to describe the kinematics and dynamics of ships, providing simplified versions for easier understanding. The focus then shifts to addressing challenges associated with automating ship movement, including path planning, navigation, and guidance systems, as well as control mechanisms.The text delves into the complexities of multi-operational control systems designed for marine surface vessels. It examines the intricacies of ship motion control, describing the benefits of using switching systems. The book explains how such systems can be structured to improve efficiency in ship movement. Additionally, it covers critical components such as path planning, speed estimation, and the role of a supervisory system, all while maintaining a bank of controllers to manage various aspects of control.A section of the book is dedicated to experiments conducted with these multi-operational control systems, detailing parameter settings, navigation scenarios, and providing case studies for practical insight. Concluding remarks summarize the findings and implications of the research presented.The appendices offer supplementary material, including a mathematical model of the training ship "Blue Lady," a description of the discrete-time Kalman filter, sample pathways, and real-time software and hardware equipment, enhancing the reader's comprehension of the text. The detailed references provide a strong foundation for further research and exploration.