المويلحي, د. علي محمد2025-03-062025-03-06https://dspace.academy.edu.ly/handle/123456789/1411Ship autopilots are usually designed based on PD controllers because of the simplicity and the ease of construct. However its performances in various environmental conditions are not as good as desired. In order to overcome the drawbacks of the conventional fixed-gain PD controllers, an adaptive controller utilize model reference adaptive control technique, based on Lyapunov stability law was designed. In this research, the parameters are provided from a scale model ship to illustrate the effectiveness of the proposed methodology and present the utility of this autopilot, to control the ship heading to follow a desired path under different sea conditions. The linearized heading state space model of the ship motion is presented and the method of the autopilot control strategy is completely described . The numerical simulation results for the ship heading autopilot shows, the comparison of the system behavior response between conventional and model reference adaptive controller, to demonstrate the robustness of each controller in presence of structured and unstructured dynamic uncertainty.Ship autopilots are usually designed based on PD controllers because of the simplicity and the ease of construct. However its performances in various environmental conditions are not as good as desired. In order to overcome the drawbacks of the conventional fixed-gain PD controllers, an adaptive controller utilize model reference adaptive control technique, based on Lyapunov stability law was designed. In this research, the parameters are provided from a scale model ship to illustrate the effectiveness of the proposed methodology and present the utility of this autopilot, to control the ship heading to follow a desired path under different sea conditions. The linearized heading state space model of the ship motion is presented and the method of the autopilot control strategy is completely described . The numerical simulation results for the ship heading autopilot shows, the comparison of the system behavior response between conventional and model reference adaptive controller, to demonstrate the robustness of each controller in presence of structured and unstructured dynamic uncertainty.Design of Vessel heading autopilot based on model reference adaptive control