RUDER CONTROLLED DESIGN USING MODEL REFERENCE ADAPTIVE CONTROL (MRAC) BY OPTIMALIZED REFERENCE MODEL

摘要

This paper talk about rudder controlled to minimized error because of waves and streams. That error is done to minimized fuel consumption. That things is done by using MRAC (Model Reference Adaptive Control). Adaptive law is done by using Liapunov Method to ensure the system stability. Mode Parameter controller, K_(pm) and K_(dm) are found by using Linear Quadratic Optimal Control to minimise the energy consumption. To damped high frequency, a low pass filter is used so rudder position still fixed although control signal is oscilating.