Ship motion control using multi-controller structure

The aim of this paper is to design a ship autopilot using a multi-controller structure by introducing several working points. The control design of each local controller is achieved using internal model control structure. An illustrative example shows the application of the proposed control structure to a container ship in real condition of navigation.

► Ship modeling by nonlinear and linear model.
► Designing a ship autopilot using multi-controller structure.
► Each local PID controller is designed using internal model structure.
► Application of the proposed control structure to a container ship.