Passive output feedback and observer based autopilots: A comparative study

Abstract

Two methods for course-keeping of a ship are studied where no measurements of the yaw rate are available. The two methods are a passive output feedback controller and a controller-observer structure. A comparison with special attention to stability and wave filtering properties, is provided. Finally, a case study of a ship autopilot is included.

Keywords

• Comparative study
• ship autopilots
• passive controllers
• observer based controllers