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cybergalactic / MSS

The Marine Systems Simulator (MSS) is software that supplements the textbook "Handbook of Marine Craft Hydrodynamics and Motion Control," 2nd Edition, by T. I. Fossen, published in 2021 by John Wiley & Sons Ltd.
https://mss.fossen.biz
MIT License
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Control-Autopilost model #41

Closed VastSeaL closed 1 year ago

VastSeaL commented 1 year ago

Hi Prof. Fossen,

I use the "Course autopilot" module in the MSS Simulink Library /Control/Autopilots. Can you help me to explain how the module work? Besides, where is the source code of the module?

Thank you very much.

cybergalactic commented 1 year ago

You find the Simulink library blocks after typing: >>mssSimulink, in the Matlab workspace. The course autopilot is based on Algorithm 15.1 in my Wiley (2021) textbook. This is a SISO PID pole-placement algorithm for vehicles. You will also find the algorithm in my lecture notes, which can be downloaded from https://wiley.fossen.biz. The design of heading and course autopilots are explained in detail in my book; see Chapters 7 and 15.3.4.