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.
|Title of host publication||IFAC conference on control applications in marine systems, Ancona, Italy|
|Publication status||Published - 2004|