Adaptive Control Design for Lateral Ship Dynamics
Nazli E. Kahveci
AVL Research and Engineering
Gebze, Turkey
Email: [email protected]
Abstract
We analyze the floating characteristics of a typical production ship based on a mathematical model where it is assumed that the station-keeping behavior of the ship is not affected by its 2D spatial position. The mooring forces are modeled as spring forces, and the body-fixed equations of motion are written in terms of surge, sway, and yaw velocities. Saturation limits are imposed on the yaw moment within the thruster system where there is inevitably a physical limit to what is realistic as the control input. An adaptive yaw rate controller is designed for scenarios with parametric deviations as well as external disturbances, and the corresponding stability analysis is presented.
Biography
Nazli E. Kahveci received the B.S. degree in Electrical and Electronics Engineering from the Middle East Technical University (METU), Ankara, Turkey in 2002, and the M.S. and Ph.D. degrees in Electrical Engineering from the University of Southern California (USC), Los Angeles, CA in 2004 and 2007, respectively. She was a Research Assistant with the Center for Advanced Transportation Technologies from 2002 to 2007, and had summer internship experiences in flight controls with NASA Dryden Flight Research Center, Edwards, CA in 2004 and the Boeing Company, Everett, WA in 2006. Dr. Kahveci was a Research Engineer with Ford Motor Company, Dearborn, MI from 2008 to 2010, and a Principal Engineer with Toyota Motor Engineering and Manufacturing North America, Inc., Ann Arbor, MI from 2011 to 2012. She later joined AVL Research and Engineering, Gebze, Turkey as a Technical Specialist in 2012. Dr. Kahveci was the recipient of the 2006 Boeing Satellite Systems Platinum Scholarship, the 2007 Certificate of Merit Recognition granted by the USC Women in Science and Engineering, and the 2007–2008 Academic Year Special Award presented by the USC Graduate School and the Center for Excellence in Teaching. She is a member of the IFAC Technical Committee on Automotive Controls, the AIAA Guidance, Navigation, and Control Technical Committee, and the IEEE Control Systems Society Technical Committee on System Identification and Adaptive Control. Since 2007 she has served as a Program Committee Member and Associate Editor for numerous IEEE, ASME, and AIAA conferences and symposia related to her research fields of interest.
