Abstract
The paper presents experimental results on rendezvous control of ships using synchronization techniques. In particular, recent results on external synchronization for underway replenishment of ships are verified through a back-to-back comparison between experimental results and ideal simulations. The experiments illustrate that the synchronization controller yields exponential convergence of the closed-loop errors for position keeping, and uniform ultimate boundedness of the closed-loop errors during trajectory tracking. The gain tuning process is motivated, and the effects of measurement noise and environmental disturbances on the control scheme performance are discussed.
| Original language | English |
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| Title of host publication | IFAC conference on control applications in marine systems, Ancona, Italy |
| Pages | 453-458 |
| Publication status | Published - 2004 |