Study on the Practical Use of Learning Feed-Forward Control System to Ship Manoeuvring Motion

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The fruits of this study1.The control system needs the inverse dynamics model, and it can be obtained with the identification of the ship maneuvering data.(1) The controlled object in the feedback loop can be identified suitably with the prediction error method and ARMX model.(2) The inverse dynamics model can be obtained precisely with the continuous identification, and it is adaptive to the change of the ship characteristics.2.The coefficients of the learning equations can be gained effectively with the suitable grouping of the inverse dynamics model. And the computer aided system for the automatic selection of the coefficients of the learning equations could be designed.3.It is confirmed that this learning feed-forward control system will be put into practical use with theresult of the real ship test.The future development of this studyIt is prospected that the control system studied here can be put into practical use sufficiently, and so it must be tried to inform this system to a shipbuilding company and a shipping interests.