“A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship”

Authors: Roger Skjetne, Øyvind N. Smogeli and Thor I. Fossen,
Affiliation: NTNU, Centre for Ships and Ocean Structures
Reference: 2004, Vol 25, No 1, pp. 3-27.

Keywords: Ship control; manoeuvering; nonlinear ship model; system identification, robust adaptive control; experimental testing

Abstract: Complete nonlinear dynamic manoeuvering models of ships, with numerical values, are hard to find in the literature. This paper presents a modeling, identification, and control design where the objective is to manoeuver a ship along desired paths at different velocities. Material from a variety of references have been used to describe the ship model, its difficulties, limitations, and possible simplifications for the purpose of automatic control design. The numerical values of the parameters in the model is identified in towing tests and adaptive manoeuvering experiments for a small ship in a marine control laboratory.

PDF PDF (369 Kb)        DOI: 10.4173/mic.2004.1.1

DOI forward links to this article:
[1] Alan M. Whitman, Hashem Ashrafiuon and Kenneth R. Muske (2011), doi:10.1115/1.4002976
[2] Morten Breivik, Vegard E. Hovstein and Thor I. Fossen (2008), doi:10.4173/mic.2008.4.2
[3] So-Ryeok Oh, Jing Sun, Zhen Li, E.A. Celkis and D. Parsons (2010), doi:10.1109/TMECH.2009.2024308
[4] Young-Hwan Park and Jae-Kyung Lee (2012), doi:10.5302/J.ICROS.2012.18.1.001
[5] F. J. Velasco, E. Revestido, E. Moyano and E. López (2012), doi:10.1002/cae.20444
[6] David Moreno-Salinas, Dictino Chaos, Eva Besada-Portas, José Antonio López-Orozco, Jesús M. de la Cruz and Joaquín Aranda (2013), doi:10.1155/2013/890120
[7] Serge Sutulo and C. Guedes Soares (2014), doi:10.1016/j.oceaneng.2014.01.007
[8] Weilin Luo, Lúcia Moreira and C. Guedes Soares (2014), doi:10.1016/j.oceaneng.2014.03.008
[9] Arturo Padilla, Juan I. Yuz and Benjamin Herzer (2014), doi:10.1080/00207179.2014.897036
[10] Haizhi Liang, Luyu Li and Jinping Ou (2014), doi:10.1007/s11802-014-2066-y
[11] Erik Kyrkjebø (2015), doi:10.4173/mic.2015.2.3
[12] Flavia Benetazzo, Gianluca Ippoliti, Sauro Longhi and Paolo Raspa (2015), doi:10.1016/j.oceaneng.2015.07.001
[13] DongBin Lee, Enver Tatlicioglu, Timothy C. Burg and Darren M. Dawson (2008), doi:10.1109/ACC.2008.4586548
[14] Kenneth R. Muske, Hashem Ashrafiuon, Geoffrey Haas, Ryan McCloskey and Timothy Flynn (2008), doi:10.1109/ACC.2008.4586551
[15] A. Pereira, J. Das and G.S. Sukhatme (2008), doi:10.1109/IROS.2008.4650991
[16] DongBin Lee, Enver Tatlicioglu, Timothy C. Burg and Darren M. Dawson (2008), doi:10.1109/CDC.2008.4739313
[17] Bao-Li Ma and Wen-Jing Xie (2013), doi:10.1049/iet-cta.2012.0539
[18] L. Consolini and M. Tosques (2012), doi:10.1109/TAC.2012.2199178
[19] Francisco Jesus Velasco, Elias Revestido Herrero, Eloy Lopez and Emiliano Moyano (2013), doi:10.1109/JOE.2012.2227175
[20] John M. Daly, Michael J. Tribou and Steven L. Waslander (2012), doi:10.1109/IROS.2012.6385523
[21] Kilsoo Kim, Young-Ki Lee, Sehwan Oh, David Moroniti, Dimitri Mavris, George J. Vachtsevanos, Nikos Papamarkos and George Georgoulas (2013), doi:10.1109/MED.2013.6608750
[22] Arturo Padilla and Juan I. Yuz (2013), doi:10.1109/CDC.2013.6760592
[23] Guoqing Xia, Ju Liu and Huiyong Wu (2013), doi:10.1109/ICNC.2013.6817972
[24] Simone Formentin, Daniele Berretta, Nazario Urbano, Ivo Boniolo, Pierpaolo De Filippi and Sergio M. Savaresi (2013), doi:10.1109/TMECH.2013.2263092
[25] Guoqing Xia, Ju Liu, Xinghua Chen, Dapeng Wang and Rongtao Yang (2015), doi:10.1109/ICMA.2015.7237675
[26] M. Breivik and T.I. Fossen (2004), doi:10.1109/OCEANS.2004.1406507
[27] Guoqing Xia, Ju Liu and Ang Zhao (2015), doi:10.1109/CCDC.2015.7162034
[28] Baris Bidikli, Enver Tatlicioglu and Erkan Zergeroglu (2014), doi:10.1109/CDC.2014.7040073
[29] Mikkel Eske, Norgaard Sorensen and Morten Breivik (2015), doi:10.1016/j.ifacol.2015.10.295
[30] Z.X. Liu, C. Yuan and Y.M. Zhang (2015), doi:10.1016/j.ifacol.2015.10.271
[31] Baris Bidikli, Enver Tatlicioglu and Erkan Zergeroglu (2016), doi:10.1016/j.oceaneng.2015.12.057
[32] Liu Zhixiang, Zhang Youmin, Yuan Chi and Luo Jun (2015), doi:10.1109/ChiCC.2015.7260611
[33] Baris Bidikli, Enver Tatlicioglu and Erkan Zergeroglu (2015), doi:10.1109/IROS.2015.7353503
[34] Hassene Rebhi and Samir Nejim (2015), doi:10.1109/SSD.2015.7348188
[35] Zhixiang Liu, Youmin Zhang, Xiang Yu and Chi Yuan (2016), doi:10.1016/j.arcontrol.2016.04.018
[36] F. Benetazzo, G. Ippoliti, S. Longhi and P. Raspa (2012), doi:10.3182/20120531-2-NO-4020.00041
[37] Andrew Ross, Tristan Perez and Thor I. Fossen (2007), doi:10.3182/20070919-3-HR-3904.00041
[38] Huarong Zheng, Rudy R. Negenborn and Gabriel Lodewijks (2014), doi:10.3182/20140824-6-ZA-1003.00767
[39] Morten Breivik, Vegard E. Hovstein and Thor I. Fossen (2008), doi:10.3182/20080706-5-KR-1001.02706
[40] Sascha Hornauer and Axel Hahn (2013), doi:10.3182/20130918-4-JP-3022.00049
[41] Guoyuan Li, Houxiang Zhang, Bikram Kawan, Hao Wang, Ottar L. Osen and Arne Styve (2016), doi:10.1109/OCEANSAP.2016.7485648
[42] Lokukaluge P. Perera, P. Oliveira and C. Guedes Soares (2016), doi:10.1109/JOE.2015.2460871
[43] Mikkel Eske Norgaard Sorensen, Elias S. Bjorne and Morten Breivik (2016), doi:10.1109/CCA.2016.7587926
[44] Yang Qu, Haixiang Xu, Wenzhao Yu, Hui Feng and Xin Han (2017), doi:10.1007/s11804-017-1410-1
[45] Wilhelm B. Klinger, Ivan R. Bertaska, Karl D. von Ellenrieder and M. R. Dhanak (2017), doi:10.1109/JOE.2016.2571158
[46] Lokukaluge P. Perera (2017), doi:10.1016/j.oceaneng.2017.04.017
[47] David Di Ruscio and Christer Dalen (2017), doi:10.4173/mic.2017.2.4
[48] Baris Bidikli, Enver Tatlicioglu and Erkan Zergeroglu (2017), doi:10.1016/j.oceaneng.2017.05.002
[49] Morten Breivik and Thor I. Fossen (2004), doi:10.1016/S1474-6670(17)31709-3
[50] Roger Skjetne, Øyvind Smogeli and Thor I. Fossen (2004), doi:10.1016/S1474-6670(17)31732-9
[51] Chenguang Liu, Huarong Zheng, Rudy R. Negenborn, Xiumin Chu and Le Wang (2015), doi:10.1007/978-3-319-24264-4_12
[52] Wenjing Xie, Baoli Ma, Tyrone Fernando and Herbert Ho-Ching Iu (2017), doi:10.1002/rnc.3845
[53] Man Zhu, Axel Hahn, Yuan-Qiao Wen and Andre Bolles (2017), doi:10.1016/j.apor.2017.09.006
[54] Ali Haseltalab and Rudy R. Negenborn (2017), doi:10.1016/j.ifacol.2017.08.830
[55] Ali Haseltalab and Rudy R. Negenborn (2017), doi:10.1109/OCEANSE.2017.8084694
[56] Yanting Huang, Zewei Zheng, Liang Sun and Bing Zhu (2017), doi:10.1109/ICCA.2017.8003097
[57] Van Trong Nguyen, Yong-Woon Choi, Jung-In Yoon, Kwang-Hwan Choi, Chang-Hyo Son, Young-Bok Kim, B.H. Setiadji, A.L. Han, A. Widodo, J.D. Setiawan, O. Kurdi and J.U.D. Hatmoko (2018), doi:10.1051/matecconf/201815901056
[58] (2018), doi:10.3390/app8040598
[59] Dongdong Mu, Guofeng Wang, Yunsheng Fan, Xiaojie Sun and Bingbing Qiu (2018), doi:10.3390/s18061889
[60] Alexander I. Kozynchenko and Sergey A. Kozynchenko (2018), doi:10.1016/j.oceaneng.2018.07.012
[61] P. Neri (2018), doi:10.1080/17445302.2018.1496567
[62] Ngoc-Huy Tran, Hyeung-Sik Choi, Se-Hoon Baek and Hee-Young Shin (2014), doi:10.1007/978-3-642-41968-3_57
[63] Yamin Huang, Linying Chen and P.H.A.J.M. van Gelder (2019), doi:10.1016/j.oceaneng.2018.12.053
[64] Ali Haseltalab and Rudy R. Negenborn (2019), doi:10.1016/j.apenergy.2019.113308
[65] Callum Lennox, Keir Groves, Vlad Hondru, Farshad Arvin, Konrad Gornicki and Barry Lennox (2019), doi:10.1109/ICMECH.2019.8722901
[66] Fredrik Ljungberg and Martin Enqvist (2019), doi:10.1109/LCSYS.2019.2918098
[67] Jessica Reichers, Nathan Brannon, Joshua Rubini, Naomi Hillis, Katia Estabridis and Gary Hewer (2020), doi:10.1007/978-3-030-20467-9_1
[68] Ali Haseltalab and Rudy R. Negenborn (2019), doi:10.1016/j.conengprac.2019.104116
[69] Lokukaluge P. Perera, P. Oliveira and C. Guedes Soares (2015), doi:10.1115/1.4029826
[70] Chenguang Liu, Huarong Zheng, Rudy Negenborn, Xiumin Chu and Shuo Xie (2019), doi:10.1002/asjc.2208
[71] Van Trong Nguyen, Yong-Woon Choi, Jung-In Yoon, Kwang-Hwan Choi, Chang-Hyo Son, Young-Bok Kim, B.H. Setiadji, A.L. Han, A. Widodo, J.D. Setiawan, O. Kurdi and J.U.D. Hatmoko (2018), doi:10.1051/matecconf/201815902026
[72] Zachary Ian Bell, Jason Nezvadovitz, Anup Parikh, Eric M. Schwartz and Warren E. Dixon (2020), doi:10.1109/JOE.2018.2880622
[73] Wei Wang, Luis A. Mateos, Shinkyu Park, Pietro Leoni, Banti Gheneti, Fabio Duarte, Carlo Ratti and Daniela Rus (2018), doi:10.1109/ICRA.2018.8460632
[74] Wei Wang, Banti Gheneti, Luis A. Mateos, Fabio Duarte, Carlo Ratti and Daniela Rus (2019), doi:10.1109/IROS40897.2019.8968131
[75] Dong Dong Mu, Guo Feng Wang and Yun Sheng Fan (2020), doi:10.1007/s12555-019-0611-6
[76] Eivind Meyer, Amalie Heiberg, Adil Rasheed and Omer San (2020), doi:10.1109/ACCESS.2020.3022600
[77] Kunal N. Tiwari, Akhil Balagopalan and Parameswaran Krishnankutty (2020), doi:10.1080/17445302.2020.1816764
[78] Rafael Guardeno, Manuel J. Lopez, Jesus Sanchez and Agustin Consegliere (2020), doi:10.3390/jmse8050300
[79] Dong-Hun Lee and Young-Bok Kim (2020), doi:10.1177/0020294020968555
[80] Simon Watson, Daniel A. Duecker and Keir Groves (2020), doi:10.3390/s20216203
[81] Dong-Hun Lee, Soumayya Chakir, Young-Bok Kim and Duc-Quan Tran (2020), doi:10.1016/j.ijnaoe.2020.11.008
[82] Helmi Abrougui, Saber Hachicha, Chiheb Zaoui, Habib Dallagi and Samir Nejim (2020), doi:10.1109/IC_ASET49463.2020.9318288
[83] Y A Maksimova, D Barchukov and S Slobodyan (2021), doi:10.1088/1757-899X/1019/1/012080
[84] Awanish Chandra Dubey, Anantha V. Subramanian and V. Jagadeesh Kumar (2021), doi:10.1080/17445302.2021.1889193
[85] Ali Haseltalab, Vittorio Garofano, Maurits van Pampus and Rudy R. Negenborn (2020), doi:10.1016/j.ifacol.2020.12.1457
[86] Guillermo Bejarano and Sufiyan N-Yo (2020), doi:10.1016/j.ifacol.2020.12.1479
[87] Yang Qu, Lilong Cai and Haixiang Xu (2021), doi:10.1109/TSMC.2019.2931771
[88] Anna Miller (2021), doi:10.3390/app11125504
[89] Sen Han, Yiting Wang, Lei Wang and Huacheng He (2021), doi:10.1016/j.oceaneng.2021.109352
[90] Minling Wu, Lijun Liua and Zhen Yu (2021), doi:10.1016/j.isatra.2021.08.024
[91] Xiaoyong Jiang, Langyue Huang, Mengle Peng, Zhongyi Li and Ke-ji Yang (2021), doi:10.1007/s00773-021-00847-5
[92] Sen Han, Lei Wang, Yiting Wang and Huacheng He (2021), doi:10.1016/j.oceaneng.2021.109696
[93] Kunal Tiwari and P. Krishnankutty (2021), doi:10.1007/s40868-021-00105-8
[94] Tongtong Wang, Guoyuan Li, Baiheng Wu, Vilmar Asoy and Houxiang Zhang (2021), doi:10.1080/17445302.2021.1927600
[95] Yang Qu and Lilong Cai (2021), doi:10.1109/ICRA48506.2021.9561908
[96] Marin Dimitrov, Keir Groves, David Howard and Barry Lennox (2021), doi:10.1109/ICRA48506.2021.9561454
[97] Victor C. Codesseira and Eduardo A. Tannuri (2021), doi:10.1016/j.ifacol.2021.10.073
[98] Jiahui Liu, Adrian Wing-Keung Law and Okan Duru (2022), doi:10.1016/j.jenvman.2021.114080
[99] Thanh-Toan Nguyen, Ngoc-Huy Tran, Tran-Minh-Duc Ho and Hung Nguyen (2021), doi:10.1109/ATC52653.2021.9598281
[100] Ana Catarina Costa, Haitong Xu and Carlos Guedes Soares (2021), doi:10.3390/jmse9111302
[101] Michele Martelli, Antonio Virdis, Alberto Gotta, Pietro Cassara and Maria Di Summa (2021), doi:10.1109/ACCESS.2021.3130741
[102] Enrico Simetti and Giovanni Indiveri (2022), doi:10.1016/j.oceaneng.2021.110260
[103] Shasha Wang, Mingyu Fu, Yuanhui Wang, Yulong Tuo and Hongliang Ren (2018), doi:10.1109/ACCESS.2018.2881134
[104] Li-Ying Hao, Ying Yu, He Zhang and Hui Li (2021), doi:10.1109/ICIST52614.2021.9440566
[105] Wei Wang, Tixiao Shan, Pietro Leoni, David Fernandez-Gutierrez, Drew Meyers, Carlo Ratti and Daniela Rus (2020), doi:10.1109/IROS45743.2020.9340712
[106] Keir Groves, Marin Dimitrov, Harriet Peel, Ognjen Marjanovic and Barry Lennox (2020), doi:10.1109/IROS45743.2020.9341142
[107] Yang Qu and Lilong Cai (2022), doi:10.1016/j.oceaneng.2022.110603
[108] Jose Maria Manzano, Jose Ramon Salvador, Guillermo Bejarano and Daniel Limon (2021), doi:10.1109/CDC45484.2021.9683591
[109] Awanish Chandra Dubey, Rishi Gajapathy and Suresh Rajendran (2021), doi:10.23919/OCEANS44145.2021.9705853
[110] Habib Choukri Lamraoui, Zhu Qidan and Yasser Bouzid (2022), doi:10.1007/s40868-021-00110-x
[111] Mingyu Fu, Guorong Zhang and Yujie Xu (2021), doi:10.1109/CAC53003.2021.9728304
[112] Enver Tatlicioglu, Bayram Melih Yilmaz, Aydogan Savran and Musa Alci (2022), doi:10.1016/j.oceaneng.2022.111129
[113] Anh-Duy Nguyen, Ngoc-Huy Tran, Thanh-Toan Nguyen, An-Tri Nguyen and Thien-Phuc Tran (2022), doi:10.1007/978-3-030-99666-6_133
[114] Sen Han, Lei Wang and Yiting Wang (2022), doi:10.1016/j.oceaneng.2022.111355
[115] Mingyu Fu, Guorong Zhang and Yujie Xu (2022), doi:10.1109/OCEANSChennai45887.2022.9775540
[116] Sen Han, Lei Wang, Yiting Wang and Huacheng He (2022), doi:10.1016/j.oceaneng.2022.111655
[117] Zhilin Dong, Jialun Liu, Chen Li and Shijie Li (2021), doi:10.1109/ICTIS54573.2021.9798471
[118] Guillermo Bejarano, Jose Maria Manzano, Jose Ramon Salvador and Daniel Limon (2022), doi:10.1016/j.oceaneng.2022.111764
[119] Luis Orihuela, Christophe Combastel and Guillermo Bejarano (2022), doi:10.23919/ECC55457.2022.9838213
[120] Mingyu Fu, Guorong Zhang and Yujie Xu (2022), doi:10.1016/j.oceaneng.2022.112385
[121] Sen Han, Lei Wang and Yiting Wang (2022), doi:10.1016/j.oceaneng.2022.112877
[122] Yang Qu and Lilong Cai (2022), doi:10.1016/j.isatra.2022.10.041
[123] Prashant N. Kambali and C. Nataraj (2022), doi:10.1007/s11071-022-08089-9
[124] Guillermo Bejarano, Sufiyan N-Yo and Luis Orihuela (2022), doi:10.1109/TCST.2021.3136334
[125] Qu Yang and Lilong Cai (2023), doi:10.1016/j.oceaneng.2022.113311
[126] Yang Qu and Lilong Cai (2022), doi:10.1109/TMECH.2022.3181245
[127] Yang Qu and Lilong Cai (2022), doi:10.3390/jmse10122025
[128] Yang Qu and Lilong Cai (2023), doi:10.1016/j.oceaneng.2023.113665
[129] Yuchao Wang, Yong Sun and Huixuan Fu (2022), doi:10.1109/ROBIO55434.2022.10011674
[130] Xuewei Li, Miao Gao, Zhen Kang, Xiangyu Chen, Xi Zeng, Shuai Chen, Haixin Sun and Anmin Zhang (2023), doi:10.3390/jmse11020312
[131] Xiaoyong Jiang, Mengle Peng, Zhongyi Li, Langyue Huang, Shutian Xu and Ke-ji Yang (2023), doi:10.1007/s00773-023-00928-7
[132] Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen and Asgeir J. Sorensen (2023), doi:10.1109/TAC.2022.3161372
[133] Shouqi Mao, Ping Yang, Diju Gao, Chunteng Bao and Zhenyang Wang (2023), doi:10.3390/jmse11040687
[134] Yanwei Huang and Peng Huang (2023), doi:10.1177/09596518231172264
[135] Giulia Cademartori, Luca Oneto, Federica Valdenazzi, Andrea Coraddu, Andrea Gambino and Davide Anguita (2023), doi:10.1016/j.oceaneng.2023.114822
[136] Martin Waltz and Ostap Okhrin (2023), doi:10.1016/j.neunet.2023.06.015
[137] Guorong Zhang, Mingyu Fu, Yujie Xu, Jin Li, Weiqiu Zhang and Zhipeng Fan (2023), doi:10.1016/j.oceaneng.2023.115030
[138] Changyu Lee and Jinwhan Kim (2023), doi:10.26748/KSOE.2023.013
[139] Wei Wang, David Fernandez Gutierrez, Rens Doornbusch, Joshua Jordan, Tixiao Shan, Pietro Leoni, Niklas Hagemann, Jonathan Klein Schiphorst, Fabio Duarte, Carlo Ratti and Daniela Rus (2023), doi:10.1002/rob.22237
[140] Siyuan Wang, Yang Cao, Man Zhu, Yixiong He, Yuanqiao Wen and Weidong Zhang (2023), doi:10.23919/CCC58697.2023.10240938
[141] Tianheng Ma, Shumin Chen and Yuanxin Xu (2023), doi:10.1109/ICRCV59470.2023.10329166
[142] Guangyuan Zhang, Jie Yang, Kechao Wang and M. Vijayalakshmi (2023), doi:10.1117/12.3010585
[143] Simeng Song, Zhilin Liu, Shouzheng Yuan, Zhongxin Wang and Ting Wang (2024), doi:10.1016/j.isatra.2024.01.016
[144] Wu Wen, Yang Qu and Zhou Liu (2023), doi:10.1109/AUTEEE60196.2023.10408097
[145] Hailun Chen, Mingyu Fu and Yujie Xu (2023), doi:10.1109/IECON51785.2023.10312083
[146] Xiaoyong Jiang, Peng Gao, Fandi Jin and Weichen Zhu (2023), doi:10.1109/ICOS60708.2023.10425367
[147] Xiaoyong Jiang, Xuan Wei, Fandi Jin, Peng Gao, Weichen Zhu and Keji Yang (2023), doi:10.1109/ICOS60708.2023.10425492
[148] Xiaoyong Jiang, Weichen Zhu, Peng Gao and Fandi Jin (2023), doi:10.1109/ICOS60708.2023.10425037
[149] Li-Ying Hao, Gege Dong, Tieshan Li and Zhouhua Peng (2024), doi:10.1109/JAS.2023.123675
[150] Wenhao Li, Xianxia Zhang, Yueying Wang and Songbo Xie (2024), doi:10.3390/jmse12040575
[151] Gege Dong, Li Ying Hao, Tieshan Li and Zhouhua Peng (2024), doi:10.1002/rnc.7408
[152] Richard T. O'Brien (2024), doi:10.1109/CONTROL60310.2024.10531989
[153] Ming-Yang Li, Long-Tao Liu and Ling-Ling Yu (2024), doi:10.1007/978-981-97-3336-1_15
[154] Nistor Andrei, Cezar Scarlat and Alexandra Ioanid (2024), doi:10.3390/logistics8030071
[155] Sen Han, Lingxiao Yan, Jiahao Sun, Shifeng Ding, Fang Li and Li Zhou (2024), doi:10.1016/j.oceaneng.2024.119059
[156] Huarong Zheng, Jiacheng Li, Zhuoer Tian, Chenguang Liu and Wenxiang Wu (2024), doi:10.1109/TITS.2024.3374796
[157] Deniz Kurtoglu, Enver Tatlicioglu and Erkan Zergeroglu (2024), doi:10.23919/ACC60939.2024.10644285
[158] Tianheng Ma and Zheng Chen (2024), doi:10.23919/CCC63176.2024.10661601
[159] Sen Han, Jiahao Sun, Shifeng Ding and Li Zhou (2024), doi:10.1109/TVT.2024.3410183
References:
[1] ABKOWITZ, M. A. (1964). Lectures on ship hydrodynamics - steering and manoeuvrability, Technical report Hy-5, Hydro- and Aerodynamics Laboratory, Lyngby, Denmark.
[2] ANDERSON, B. D. O., BITMEAD, R. R., JOHNSON, JR., C. R., KOKOTOVIC , P. V., KOSUT, R. L., MAREELS, I. M. Y., PRALY, L. RIEDLE, B. D. (1986). Stability of adaptive systems, MIT Press Series in Signal Processing, Optimization, and Control, 8, The MIT Press, Cambridge, MA, USA. Passivity and averaging systems.
[3] BLANKE, M. (1981). Ship Propulsion Losses Related to Automated Steering and Prime Mover Control, Phd thesis, Technical Univ. of Denmark, Lyngby, Denmark.
[4] CLARKE, D. (2003). The foundations of steering and manoeuvring, Proc. IFAC Conf. Manoeuvering and Control of Marine Crafts, IFAC, Girona, Spain.
[5] DAVIDSON, K. S. M. SCHIFF, L. I. (1946). Turning and course keeping qualities, Trans. Soc. of Nav. Architects Marine Eng. 54: 152 - 200.
[6] FALTINSEN, O. M. (1990). Sea Loads on Ships and Offshore Structures, Cambridge University Press.
[7] FEDYAEVSKY, K. K. SOBOLEV, G. V. (1963). Control and Stability in Ship Design, State Union Shipbuilding Publishing House, Leningrad. 26.
[8] FOSSEN, T. (1994). Guidance and Control of Ocean Vehicles, John Wiley and Sons Ltd, England.
[9] FOSSEN, T. I. (2002). Marine Control Systems: Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics, Trondheim, Norway.
[10] FOSSEN, T. I., BREIVIK, M. SKJETNE, R. (2003). Line-of-sight path following of underactuated marine craft, Proc. IFAC Conf. Manoeuvering and Control of Marine Crafts, IFAC, Girona, Spain, pp. 244.249.
[11] FOSSEN, T. I. STRAND, J. P. (1999). Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with a supply vessel, Automatica 35(1): 3 - 16 doi:10.1016/S0005-1098(98)00121-6
[12] HOLZHÜTER, T. (1997). LQG approach for the high-precision track control of ships, IEE Proc. Control Theory Appl. 14.2: 121 - 127 doi:10.1049/ip-cta:19971032
[13] JOHANSEN, T. A., FUGLSETH, T. P., TØNDEL, P. FOSSEN, T. I. (2003). Optimal constrained control allocation in marine vessels with rudders, Proc. IFAC Conf. Manoeuvering and Control of Marine Crafts, IFAC, Girona, Spain.
[14] KRSTIC, M., KANELLAKOPOULOS, I. KOKOTOVIC, P. (1995). Nonlinear and Adaptive Control Design, John Wiley and Sons Ltd, New York.
[15] LEFEBER, E., PETTERSEN, K.Y. NIJMEIJER, H. (2003). Tracking control of an underactuated ship, IEEE Trans. Contr. Sys. Tech. 1.1: 52 - 61 doi:10.1109/TCST.2002.806465
[16] LEWIS, E. V. (1988). Principles of Naval Architecture: Volume II - Resistance, Propulsion, and Vibration, Vol. 2, 2 edn, Soc. Naval Architects and Marine Engineers.
[17] LINDEGAARD, K.-P. (2003). Acceleration Feedback in Dynamic Positioning, Phd thesis, Norwegian University of Science and Technology, Trondheim, Norway.
[18] LINDEGAARD, K.-P. FOSSEN, T. I. (2003). Fuel efficient rudder and propeller control allocation for marine craft: Experiments with a model ship, IEEE Trans. Contr. Sys. Tech. 1.6.
[19] MERIAM, J. L. KRAIGE, L. G. (1993). Engineering Mechanics: Dynamics, Vol 2, 3 edn, John Wiley and Sons Ltd, New York.
[20] NEWMAN, J. N. (1999). Marine Hydrodynamics, 9 edn, The MIT Press, Cambridge, Massachusetts.
[21] NOMOTO, K., TAGUCHI, T., HONDA, K. HIRANO, S. (1957). On the steering qualities of ships, Technical report 4, Int. Shipbuilding Progress.
[22] NORRBIN, N. H. (1970). Theory and observation on the use of a mathematical model for ship manoeuvering in deep and confined waters, 8th Symp. Naval Hydrodynamics, Pasadena, California, USA.
[23] SKJETNE, R. FOSSEN, T. (2004). On integral control in backstepping: Analysis of different techniques, Proc. American Control Conf., AACC, Boston, USA. Submitted.
[24] SKJETNE, R., FOSSEN, T. I. KOKOTOVIC, P. V. (2004). Adaptive output maneuvering with experiments for a model ship in a marine control laboratory, Automatica. Submitted Nov. 12, 2003.
[25] SKJETNE, R., FOSSEN, T.I. KOKOTOVIC, P. V. (2004). Robust output maneuvering for a class of nonlinear systems, Automatica 4.3: 373 - 383 doi:10.1016/j.automatica.2003.10.010
[26] SØRENSEN, A. (2002). Kompendium: Marine Cybernetics - Modelling and Control, Marine Technology Centre, Trondheim, Norway.
[27] SØRENSEN, A. J., SAGATUN, S.I. FOSSEN, T.I. (1996). Design of a dynamic positioning system using model-based control, Control Eng. Practice 4(3): 359 - 368 doi:10.1016/0967-0661(96)00013-5
[28] STRAND, J. P. (1999). Nonlinear Position Control Systems Design for Marine Vessels, Phd thesis, Norwegian University of Science and Technology, Trondheim, Norway. The Society of Naval Architects and Marine Engineers.1950. Nomenaclature for treating the motion of a submerged body through a fluid, Technical and Research Bulletin No. 1 - 5.


BibTeX:
@article{MIC-2004-1-1,
  title={{A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship}},
  author={Skjetne, Roger and Smogeli, Øyvind N. and Fossen, Thor I.},
  journal={Modeling, Identification and Control},
  volume={25},
  number={1},
  pages={3--27},
  year={2004},
  doi={10.4173/mic.2004.1.1},
  publisher={Norwegian Society of Automatic Control}
};