YACHT MODELLING AND ADAPTIVECONTROL -- YACHTMODELLINGANDADAPTIVECONTROL -- Contents -- List of Tables -- List of Figures -- Abstract -- Introduction -- 1.1. Introduction to Ship Motion Control Problem -- 1.2. Review on Ship Motion Control Strategies -- 1.3. Yacht Motion Control Problems -- 1.3.1. The Overlooked Study on Yacht Motion Control -- 1.3.2. What Is the Difference of Yacht Motion Control? -- 1.3.3. Why Adaptive Control? -- 1.4. What Is the New Contribution In This Book? -- 1.5. How Is This Book Organized? -- Yacht Mathematic Modelling:Hydrodynamics Analysis -- 2.1. Introduction -- 2.2. The Yacht Motion Coordinate Frame -- 2.3. Derivation of Motion Equations for Marine Vessels -- 2.3.1. A Particular Case of Ship Motion Analysis -- 2.3.2. The More General Case of Ship Motion Analysis -- 2.3.3. Simplification on Ship Motion Equations -- 2.4. Yacht Hydrodynamics Analysis -- 2.5. Disturbances Analysis -- 2.5.1. Wind Disturbance -- 2.5.2. Wave and Current Disturbances -- 2.6. SimulinkTM Implementation of the Chosen 12-metreAmerica's Cup Yacht -- 2.7. Summary -- Yacht Mathematic Modelling:Parameter Identification -- 3.1. Introduction -- 3.2. Yacht's Model Identification and Simplification -- 3.2.1. Recursive Prediction Error Method (RPEM) -- 3.2.2. Identification of Transfer Function -- 3.3. Numeric Results of Yacht Identification -- 3.3.1. Spectrum Analysis on Heading, Rolling and Rudder Angles -- 3.3.2. Responses of Yaw and Roll Motion to the Rudder -- 3.3.3. Sensitivity to Wind Disturbances -- 3.3.4. Illustrations on Parameter Estimation -- 3.4. Summary -- Adaptive Self-Tuning PID YachtAutopilots: LQR Approach -- 4.1. Introduction -- 4.2. LQR Self-tuning PID Autopilot Design -- 4.2.1. LQR Self-tuning PD Control Algorithm -- 4.2.2. LQR Self-tuning PID Control Algorithm -- 4.2.3. Analysis of the PD and PID Autopilot Algorithms.

4.2.3.1. Boundaries on w0 and x -- 4.2.3.2. Gains Comparison on LqrPD and LqrPID Autopilots -- 4.3. Simulations and Results Comparisons -- 4.3.1. Simulations on LQR Tuned PD Autopilots -- 4.3.2. Simulations on LQR Tuned PID Autopilots -- 4.4. Stability Analysis -- 4.5. Summary -- Adaptive Self-tuning PD YachtSteering Control: H¥ Approach -- 5.1. Introduction -- 5.2. H¥ Auto-tuning PD Autopilot Design -- 5.2.1. Review of H¥ Theory -- 5.2.2. H¥ Tuned PD Autopilot Design -- 5.2.3. Constraints Analysis on Choosing Parameters w0 and x -- 5.3. Simulations Study -- 5.3.1. Calm Sea Steering Control -- 5.3.2. Comparisons on Robust and Adaptive H¥ Tuned PD Autopilot -- 5.3.3. Comparisons on Adaptive H¥ PD and LQR Tuned PD/PID Autopilots -- 5.4. Stability Study -- 5.5. Summary -- Adaptive Yacht Rudder-RollDamping and Steering Control -- 6.1. Introduction -- 6.2. Yacht Steering and Roll Damping Control:Adaptive LQR Strategy -- 6.2.1. LQR Steering Autopilot Design -- 6.2.2. LQR Roll Damping Controller Plus PD Steering Control -- 6.2.3. LQR Steering and Roll Damping Controller -- 6.3. LQR Steering and Roll Damping Control Simulation -- 6.3.1. Comparison of PID and Adaptive LQR Autopilots for Yacht SteeringControl -- 6.3.2. Simulation Analysis of the Designed Adaptive LQR Roll Damping Autopilots -- 6.3.3. Results Analysis of the Designed LQR Steering and Roll Damping Autopilots -- 6.4. Summary -- Online Adaptive LQR AutopilotDesign Based on Genetic Algorithms -- 7.1. Introduction -- 7.2. Review of Genetic Optimization -- 7.3. The Online Adaptive LQR Autopilot Design by GA Algorithm -- 7.3.1. Brief Review of the Yacht Mathematical Model -- 7.3.2. Review of Adaptive LQR Autopilot Design -- 7.3.3. The Development of a Full-Adaptive LQR Controller Tuned by GA -- 7.4. Simulation Study -- 7.4.1. Determination of Minimum Size of Population and Generation.

7.4.2. Control Performance Comparison on the Ship "Sea Scout" -- 7.4.3. Control Performance Comparison on the Yacht -- 7.5. Summary -- Conclusions and Future's Work -- 8.1. General Conclusions -- 8.2. Suggestions for Future Research -- Appendix -- A.1. Measurements for the 12-metre America's Cup RacingYacht -- A.2. Coefficients for the 12-metre America's Cup Racing Yacht -- A.3. Added Mass of the Simulated Yacht -- References -- Index.