Abstract: Abstract. Linearization methods of the object: input-state and input-output linearization are used usually in a standard feedback control system. However, these systems are sensitive to the changes of nonlinear characteristics of the plant. These changes can be compensated in two types of control systems: in the model following control (MFC) and adaptive. The article presents the first solution and contains: miscellaneous structures of linear control systems with model following, brief description of the linearization’s methods, simulation example of the course control of vessel and the advantages of this solution.
Abstract: Paper presents the attempt to make a synthesis of a fuel cell control system using fuzzy logic. The main emphasis was placed on taking into account the limitations of fuel cell usage onto underwater ships. The fuel cell system model was implemented in MATLAB/SIMULINK as well as proposed control system. For the formulated model there were made the simulation researches and the comparison analysis of the elaborated control systems were performed.
Abstract: In the paper, basic problems connected with designing optimal structure of control Unmanned Surface Vehicle USV used for a harbour protection were presented. A specificity of USV operation during carrying out protection tasks forces different view on hardware structure of the system and a process of taking decisions than during carrying out other tasks. Correct determination of the both factors have deciding influence on an effectiveness of carried out by the vehicle in this case mission.
Abstract: The paper presents an algorithm for controlling a searching and tracking head (STH) mounted on a mobile vehicle. A numerical analysis was conducted to establish the dynamics of the controlled STH due to the kinematic action of the vehicle moving over rough terrain. Some of the computer simulation results were represented graphically.
Abstract: This paper presents the application of wheeled vehicle based on a hybrid propulsion system. Describes control system structure and communication between different units of propulsion, intermediary devices and the fundamental issues of building such a network. Virtual propulsion of a wheeled vehicle hybrid drive designed for parallel connection structure of the drive units. This enabled the propulsion work more efficiently through the synergy of energy units – ICE and electric motor, and allowed ICE unit turn off in built-up areas. In the presented research results can be seen as a great contribution to the work of the propulsion system has an internal combustion engine, which not only drives the electric generator, but also a wheeled vehicles.
Abstract: The paper describes an integration of monitoring and control of three main parts of the ship propulsion plant: Main Engine – Shaft Generator – Pitch Propeller. The Supervisory optimal and fuzzy logic controller is to be implemented into the system as an intelligent and adaptive unit, gathering inputs and outputs of three “independent” (main engine, shaft generator, pitch propeller) parts of ship propulsion system. Described above supervisory controller is intentionally included into “Sail by Wire“ Supervisory System and creates a virtual controller of ship’s safety performance. This is an integrated, optimal, adaptive and intelligent control and monitoring system responsible for ship’s safety.
Abstract: Using as an example the process of safe ship’s control, the paper presents the problem of applying a positional non cooperative game of j objects for the description of the process considered as well as for the synthesis of optimal strategies. The approximated mathematical model of differential game in the form of dual linear programming problem is used for the synthesis of safe ship’s trajectory as a multistage process decision. The considerations have been illustrated an example of a computer simulation the MPGAME program to determine the safe ship's trajectory in situation of passing a many of the objects encountered.
Abstract: The paper introduced the dynamic programming algorithm of own ship optimal and safe trajectory in situation a many of encountered objects. The moving domains of met objects are introduced as neural state constraints in the form of circle, parable, ellipse and hexagon. Finally the computer simulation of multistage own ship control in real navigational situations at sea is presented.
Abstract: Marine accidents occurring nowadays testify to the fact that systems enhancing the level of navigational safety are indispensable. This paper describes a method of safe ship control in the collision situation in a fuzzy environment based on a genetic algorithm. The optimal safe ship trajectory in a collision situation is presented as multistage decision-making process. The results have been discussed.