METHOD FOR MAINTAINING WATER ROUTE OF SHIP WITH NONLINEAR AUTO-REGRESSIVE MODEL

摘要

PROBLEM TO BE SOLVED: To provide a method for maintaining a water route of a ship with a nonlinear auto-regressive model used for a radial basis function expressing a motion of the ship from time-series data thereof at sea.SOLUTION: A method for maintaining a water route of a ship 1 with a nonlinear auto-regressive model: generates a statistical model which has a radial basis function expressing a motion of the ship from time-series data thereof at sea as a regression coefficient of the auto-regressive model; obtains an optimal command rudder angle which minimizes a water route deviation Ψ from a desired water route of the ship on the basis of an optimal control theory; and performs a positional control of the ship through a control thereof in accordance with the command rudder angle so as to make the water route deviation Ψ smaller.