MULTIVARIABLE ROBUST STEERING OF THE SHIP WITH FEEDFORWARD CONTROLLER

This paper presents a complex control system implemented to steer the ship motion during manoeuvres preformed with very small velocities. The main part of the system is the multivariable robust controller supported by feedforward regulator. A task of the last controller is a minimization of a wind influence on the vessel movement. The crucial part of such system is fast and accurate anemometer, for example ultrasonic one. Then the feed forward controller can be rather simple. Presented example shows a considerable improvement of the control standard, although this quality also depends on steering device capabilities. The whole system was developed in the Matlab/Simulink environment.