Experimental results on synchronization control of ship rendezvous operations

E. Kyrkjebø, M. Wondergem, K.Y. Pettersen, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

16 Citations (Scopus)


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 languageEnglish
Title of host publicationIFAC conference on control applications in marine systems, Ancona, Italy
Publication statusPublished - 2004


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