Fartygsstyrning vid sjögång

This paper deals with automatic steering of ships under the influence of disturbances from waves. The disturbance has been of two different types, a sinusoidal wave and a disturbance in the yaw rate. We have used both conventional state feedback regulators and adaptive regulators based on least square estimation and minimum variance control. In particular, we have investigated the behaviour of the adaptive regulator in quarterly seas. Different ways to improve the performance of the regulators have been tested. Additional proposals for improvements which are not yet tested, have also been given