{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/70126"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/70126","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"A Design Methodology for Adaptive Open-Seas Course-Keeping Control of Containerships (Adaptive, Steering, Ship)","abstract":"During the seventies, the greatly increased price of fuel oil and substantial over-capacity in available tonnage of the world's merchant shipping have combined to cause a major problem for the maritime industry. This has stimulated an increasing interest in research on autopilots for ships. Much of this research effort is directed to the problem of automatic steering of merchant ships to minimize propulsion losses. The recent availability of small and inexpensive microprocessor-based digital computers enables practical application of modern, optimal, and adaptive control strategies.","abstract_html":"During the seventies, the greatly increased price of fuel oil and substantial over-capacity in available tonnage of the world's merchant shipping have combined to cause a major problem for the maritime industry. This has stimulated an increasing interest in research on autopilots for ships. Much of this research effort is directed to the problem of automatic steering of merchant ships to minimize propulsion losses. The recent availability of small and inexpensive microprocessor-based digital computers enables practical application of modern, optimal, and adaptive control strategies.","abstract_has_math":false,"creators":["Tugcu, Ahmet Kemal"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2014,"date_issued":"2014-12-15T21:41:15Z","date_published":"2014-12-15T21:41:15Z","updated_at":"2026-07-22T22:26:02Z","subjects":["Engineering, Mechanical"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(UMI)AAI8502326"],"render_values":[{"text":"(UMI)AAI8502326","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/70126","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Tugcu, Ahmet Kemal"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2014-12-15T21:41:15Z","10000-01-01","1984"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Mechanical"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/70126","(UMI)AAI8502326"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["During the seventies, the greatly increased price of fuel oil and substantial over-capacity in available tonnage of the world's merchant shipping have combined to cause a major problem for the maritime industry. This has stimulated an increasing interest in research on autopilots for ships. Much of this research effort is directed to the problem of automatic steering of merchant ships to minimize propulsion losses. The recent availability of small and inexpensive microprocessor-based digital computers enables practical application of modern, optimal, and adaptive control strategies.","The goal of this research is to formulate an adaptive control system design methodology for online minimization of steering related losses aboard ship. Previous research has resulted in the achievement of the formulation and general characterization of the problem over the range of ship types of commercial importance. It included the application of classical and modern control theories, namely PID (Proportional plus Integral plus Derivative) and LQG (Linear Quadratic Gaussian) control techniques, respectively. The knowledge gained about the ship, steering, and seaway disturbance system dynamics established the firm background for the design of adaptive steering autopilots. Additional information on the seaway disturbance dynamics were gathered by sensitivity analysis studies.","A time series model of the combined ship/steering and disturbance dynamics has been identified. The identification and a posteriori diagnostic check of the model required the use of extensive statistical methods including multivariable regression and residual analysis. The parameters of this model are estimated "online" by recursive least-squares techniques and the ship's heading angle is controlled by rudder commands generated by employing self-tuning control theory to minimize a performance index representative of steering related propulsion losses. The design includes the formulation and synthesis of a statistically optimal observer (Kalman Filter) to estimate the ship states which can adapt to changing seaway and ship's speed and loading conditions.","Quantitative evaluation of performance is provided by time-domain simulation techniques. Comparisons between the adaptive self-tuning controller and the PID and LQG controllers have shown that significant improvement in steering can be achieved by the implementation of an adaptive autopilot designed by the methodology presented.","Made available in DSpace on 2014-12-15T21:41:15Z (GMT). No. of bitstreams: 1 8502326.pdf: 6802531 bytes, checksum: 8f84a6ff4e314187397a9ad81b1b6062 (MD5) Previous issue date: 1984","Embargo set by: Seth Robbins for item 70292 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","258 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1984."]},{"key":"dc:title","label":"Title","values":["A Design Methodology for Adaptive Open-Seas Course-Keeping Control of Containerships (Adaptive, Steering, Ship)"]}]}],"canonical_facts":{"dc:creator":["Tugcu, Ahmet Kemal"],"dc:date":["2014-12-15T21:41:15Z","10000-01-01","1984"],"dc:description":["During the seventies, the greatly increased price of fuel oil and substantial over-capacity in available tonnage of the world's merchant shipping have combined to cause a major problem for the maritime industry. This has stimulated an increasing interest in research on autopilots for ships. Much of this research effort is directed to the problem of automatic steering of merchant ships to minimize propulsion losses. The recent availability of small and inexpensive microprocessor-based digital computers enables practical application of modern, optimal, and adaptive control strategies.","The goal of this research is to formulate an adaptive control system design methodology for online minimization of steering related losses aboard ship. Previous research has resulted in the achievement of the formulation and general characterization of the problem over the range of ship types of commercial importance. It included the application of classical and modern control theories, namely PID (Proportional plus Integral plus Derivative) and LQG (Linear Quadratic Gaussian) control techniques, respectively. The knowledge gained about the ship, steering, and seaway disturbance system dynamics established the firm background for the design of adaptive steering autopilots. Additional information on the seaway disturbance dynamics were gathered by sensitivity analysis studies.","A time series model of the combined ship/steering and disturbance dynamics has been identified. The identification and a posteriori diagnostic check of the model required the use of extensive statistical methods including multivariable regression and residual analysis. The parameters of this model are estimated "online" by recursive least-squares techniques and the ship's heading angle is controlled by rudder commands generated by employing self-tuning control theory to minimize a performance index representative of steering related propulsion losses. The design includes the formulation and synthesis of a statistically optimal observer (Kalman Filter) to estimate the ship states which can adapt to changing seaway and ship's speed and loading conditions.","Quantitative evaluation of performance is provided by time-domain simulation techniques. Comparisons between the adaptive self-tuning controller and the PID and LQG controllers have shown that significant improvement in steering can be achieved by the implementation of an adaptive autopilot designed by the methodology presented.","Made available in DSpace on 2014-12-15T21:41:15Z (GMT). No. of bitstreams: 1 8502326.pdf: 6802531 bytes, checksum: 8f84a6ff4e314187397a9ad81b1b6062 (MD5) Previous issue date: 1984","Embargo set by: Seth Robbins for item 70292 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","258 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1984."],"dc:identifier":["http://hdl.handle.net/2142/70126","(UMI)AAI8502326"],"dc:subject":["Engineering, Mechanical"],"dc:title":["A Design Methodology for Adaptive Open-Seas Course-Keeping Control of Containerships (Adaptive, Steering, Ship)"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:26:02Z"}