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Anja Wahl, Ernst-Dieter Gilles

Automatic Track-Keeping on Waterways Using Optimal Control

Within this paper the tracking problem of automatic river navigation is presented. To realize “track-keeping” on waterways three different control strategies: a linear quadratic regulator with injection, a nonlinear model predictive controller and an open loop optimal control with underlying linear quadratic regulator are designed. These methods are examined and compared not only with simulations but also with results of different trials. The goal of automatic river navigation is seen in an improvement of the safety on waterways through relieving the navigator of tiring routine work.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 51, 06/2003
Pages: 255

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