Robust controller design for course changing/ course keeping control of a mariner oil tanker using quantitative feedback theory

Abstract

This paper displays the design of a powerful course controller for a mariner class oil tanker cooperating with an unverifiable ambience using Quantitative Feedback Theory. The plant model considered here is the heading and propulsion dynamics of a 350 m long, 38,9100 dwt oil tanker as originally presented and discussed in Dyne and Tragardh (1975) and Fossen (1994) with structure-parametric variation. Emphasis is given to Nomoto's first order model of oil tanker as it is suitable for the entire range of operating frequencies. In the present paper, the QFT method is utilized to integrate a robust course controller that can embrace the correct measure of plant uncertainty and can guarantee an appropriate tradeoff between vigorous security details and following execution over the entire range of frequencies. It has likewise been exhibited that this technique manually facilitates loop-shaping but enhances outline standard and, most conveniently, enhances the quality with a low order controller.