References CHAPTER 1 Amerongen, J. van and A.J. Udink ten Cate, Adaptive autopilots for ships, Proceedings Symposium on Ship Operation Automation, Oslo, Norway, 1973 Amerongen, J. van and A.J. Udink ten Cate, Model reference adaptive autopilots for ships, Automatica, Vol. 11., pp 441-449, 1975 Amerongen, J. van and H.R. van Nauta Lemke, Optimum steering of ships with an adaptive autopilot, Proceedings 5th Ship Control Systems Symposium, Annapolis Md., USA, 1978 Amerongen, J. van and H.R. van Nauta Lemke, Experiences with a digital model reference adaptive autopilot, Proceedings International Symposium on Ship Operation Automation (ISSOA), Tokyo, Japan, 1979 Amerongen, J. van, Model reference adaptive control applied to steering of ships, Lecture notes in Control and Information Sciences, Vol. 24, Springer Verlag, Berlin, Heidelberg, New York, 1980 Amerongen, J. van and H.R. van Nauta Lemke, Criteria for optimum steering of ships, Amerongen, J. van, W.F. de Goeij, J.M. Moraal, J.W. Ort and A. Postuma, Measuring the steering performance of ships during full-scale trials and model tests, Proceedings Symposium on Ship Steering Automatic Control, Genova, Italy, 1980 Amerongen, J. van, A model reference adaptive autopilot for ships - Practical results, Proceedings IFAC World Congress, Kyoto, Japan, 1981 Brink, A.W., G.Baas, A. Tiano and E. Volta, Adaptive course keeping of a supertanker and a container ship - a simulation study, Proceedings 5th Ship Control Systems Symposium, Annapolis Md., USA, 1978 Broome, D.R., A.J. Keane and L. Marshall, The effect of variations in ship operating conditions on an adaptive autopilot optimizing function, Proceedings Symposium on Ship Steering Automatic Control, Genova, Italy, 1980 Clarke, D., Development of a cost function for autopilot optimization, Proceedings Symposium on Ship Steering Automatic Control, Genova, Italy, 1980 Honderd, G. and J.E.W. Winkelman, An adaptive autopilot for ships, Proceedings 3rd Ship Control Systems Symposium, Bath, U.K., 1972 Herther,J.C., F.E. Warnock, K.W. Howard, W. VanVelde, Digipilot - a self-adjusting digital autopilot for better manoeuvring and improved course and track keeping, Källström, C.G., K.J. Åström, N.E. Thorell, J. Eriksson and L. Sten, Adaptive autopilots for steering of large tankers, Report Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, 1977 145
Adaptive Steering of Ships Källström, C.G., K.J. Åström, N.E. Thorell, J. Eriksson and L. Sten, Adaptive autopilots for tankers, Automatica, Vol. 15, pp. 241-254, 1979 Källström, C.G., Identification and adaptive control applied to ship steering, PhD thesis, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, 1979 Källström, C.G. and N.H. Norrbin, Performance criteria for ship autopilots, Proceedings Symposium on Ship Steering Automatic Control, Genova, Italy, 1980 Kanamaru, H. and T. Sato, Adaptive autopilot system with minimum propulsive energy consumption, Proceedings International Symposium on Ship Operation Automation (ISSOA), Tokyo, Japan, 1979 Kasahara, K. and Y. Nishimura, Overview of optimum navigation systems, Proceedings Symposium on Ship Steering Automatic Control, Genova, Italy, 1980 Koyama, T. On the optimum automatic steering system of ships at sea, J.S.N.A., Vol 122, Dec., 1967 Minorsky, N., Directional Stability of Automatically Steered Bodies, Journal of American Society of Naval Engineers, 1922 Norrbin, N.H., On the added resistance due to steering on a straight course, 13th ITTC, Berlin, Hamburg, 1972 Ohtsu, K., M. Horigome, G. Kitagawa, A new ships autopilot design through a stochastic model, Automatica, Vol 15, pp. 255-268, 1979 Oldenburg, J., Experiment with a new adaptive autopilot intended for controlled turns, as well as for straight course steering, Proceedings 4th Ship Control Systems Symposium, The Hague, The Netherlands, 1975 Reid, R.E. and V.E. Williams, A new ship control design criterion for improved heavy weather steering, Proceedings 5th Ship Control Systems Symposium, Annapolis, Md., USA, 1978 Schilling, A.C., Economics of autopilot steering using an IBM system/7 computer, Proceedings International Symposium on Ship Operation Automation, Washington D.C., 1976 Sperry, E., Automatic Steering, Trans. SNAME, 1922 Sugimoto, A. and T. Kojima, A new autopilot system with condition adaptivity, Proceedings 5th Ship Control Systems Symposium, Annapolis Md., USA, 1978 Tiano, A., E. Volta, A.W. Brink and T.W. Verbruggen, Adaptive control of large ships in non-stationary conditions - a simulation study, Proceedings Symposium on Ship Steering Automatic Control, Genova, Italy, 1980 CHAPTER 2 Abkowitz, M.A., Lectures on Ship Hydrodynamics - Steering and Manoeuvrability, Hya Report no. Hy-5, 1964 Amerongen, J. van, J.C. Haarman and W. Verhage, Mathematical modelling of ships, Proceedings 4th Ship Control Systems Symposium, The Hague, 1975 146
References Amerongen, J. van, C. de Keizer and W. Verhage, Measurements of the speed of ships using an automated Snellius method, Int. Shipbuilding Progress, Vol.24, no. 273, 1977 Amerongen, J. van and E.F.A, Land, An adaptive autopilot for trackkeeping, Proceedings International Symposium on Ship Operation Automation (ISSOA), Tokyo, Japan, 1979 Åström, K.J., and C.G. Källström, Identification of ship steering dynamics, Automatica, Vol 12, pp 9-22, Pergamon Press, 1976 Bech, M., The reversed spiral test as applied to large ships, Shipping world, Nov., 1968 Bech, M., and L. Wagner Smitt, Analogue Simulation of Ship Manoeuvres, Hya Report, Hy-14, 1969 Beukelman, W. and H. Huijser, Variations of parameters determining seakeeping, Report no. 443, Ship Hydrodynamics Laboratory, Delft University of Technology, 1976 Davidson, K.S.M., and L.I. Schiff, Turning and course keeping qualities, Trans. SNAME, Vol.54, 1946 Eykhoff, P., System identification - parameter and state estimation, John Wiley & Sons Ltd., 1974 Gerritsma, J., Behaviour of a ship in a sea-way, Nederlands Scheepsstudiecentrum, TNO, Report no 84s, May, 1966 Gerritsma, J., Scheepshydrodynamica - Golven, Report no. 473-K, Ship Hydrodynamics Laboratory, Delft University of Technology, 1979 Gerritsma, J., Scheepsbewegingen en Sturen II, Report no. 487-K, Part I, Ship Hydrodynamics Laboratory, Delft University of Technology, 1980 Groen, P. and R. Dorrestein, Zeegolven, KNMI, Opstellen op oceanografisch en maritiem meteorologisch gebied, no. 11, Staatsdrukkerij, 's Gravenhage, 1976 Isherwood, R.M., Windresistance on merchant ships, Transaction of the Royal Institution of Naval Architects, Supplementary papers 115, Nov., 1973 16th International Towing Tank Conference, Report of the Seakeeping Committee, Leningrad, 1981 Keizer, C. de, Een multivariabel model van de Zeefakkel, Report Control Laboratory, Delft University of Technology, 1977 Kempf, G., Manoeuvring standards of Ships, Deutsche Schiffarts-Zeitschrift, Hansa, No 27/28, 1944 Leeuwen, G. van, A simplified non-linear model of a manoeuvring ship, Shipbuilding Laboratory, Delft University of Technology, Report No. 262, 1970 Motora, S., Maneuverability, State of the art, International Jubilee Meeting on the Occasion of the 40th Anniversary of the NSMB, Wageningen, 1973 Nomoto, K., T. Taguchi, K. Honda and S. Hirano, On the steering qualities of ships, Int. Shipbuilding Progress, Vol.4, 1957 Nomoto, K., Simulators from the naval architects point of view, Proceedings of MARSIM, Southampton, UK, 1978 Norrbin, N.H., On the design and analysis of the zig-zag test on base of quasi linear frequency response, SSPA Report No. B104-3, 10th ITTC, London, 1963 147
Adaptive Steering of Ships Pierson, W.J. and L. Moskovitz, A proposed spectral form for fully developed wind seas based on similarity theory of S.A. Kitaigorodskii, Journal of Geophysical Research, Vol. 69, December 1964 Thom, H., Modellbildung für das Kursverhalten von Schiffen, Darmstadter Dissertation, D17, 1975 Wagner, B., Windkräfte an Überwasserschiffen, Schiff und Hafen 12, Jahrgang 19, 1967 Chapter 3 Amerongen, J. van and H.R. van Nauta Lemke, Optimum steering of ships with an adaptive autopilot, Proceedings 5th Ship Control Systems Symposium, Annapolis Md. USA, 1978 Amerongen, J. van and E.F.A, Land, An adaptive autopilot for trackkeeping, Proceedings International Symposium on Ship Operation Automation (ISSOA), Tokyo, Japan, 1979 Amerongen, J. van and J. Prins, Criteria for steering of Ships, (in Dutch), NTT De Zee, 8, No. 11, 1979 Amerongen, J. van and H.R. van Nauta Lemke, Criteria for optimum steering of ships, Gaag, R. van de, Kriteria voor scheepsbesturing, Report Control Laboratory, Delft University of Technology, 1979 Hashiguchi, S., Integrated Automatic Navigation System, Proceedings International Symposium on Ship Operation Automation (ISSOA), Tokyo, Japan, 1979 Heyboer, D., KNMI Routering De Bilt, Enige voorbeelden en resultaten, NTT De Zee, 2, 1973 Koyama, T. On the optimum automatic steering system of ships at sea, J.S.N.A., Vol 122, Dec., 1967 Kwakernaak, H and R. Shivan, Linear optimal control systems, John Wiley & Sons, Inc., New York, 1972 Milch, S., Hull forms and propulsion plants in the 1980's - Improved fuel economy, Schip en Werf, Vol. 47 (26), pp 443-447, 1980 Moens, W.D., Meteorologisch routeren, Leergang Scheepvaartkunde, Amsterdam, 1973 Norrbin, N.H., On the added resistance due to steering on a straight course, 13th ITTC, Berlin,Hamburg, 1972 Prins, J., Een enquete over scheepsbesturing, Report Control Laboratory, Delft University of Technology, 1978 Wit, C. de, Optimal meteorological ship routing, Int. Shipbuilding Progress, no. 205, 1971 CHAPTER 4 Amerongen, J. van and A.J. Udink ten Cate, Adaptive autopilots for ships, Proceedings Symposium on Ship Operation Automation, Oslo, Norway, 1973 148
References Amerongen, J. van and A.J. Udink ten Cate, Model reference adaptive autopilots for ships, Automatica, Vol. 11, pp 441-449, 1975 Amerongen, J. van, H.C. Nieuwenhuis and A.J. Udink ten Cate, Gradient based model reference adaptive autopilots for ships, Proceedings 6th IFAC World Congress, Boston/Cambridge, Mass., USA, 1975 Amerongen, J. van, C. de Keizer, Metingen aan een Adaptieve Stuurautomaat op een Van Speyk fregat, Report Control Laboratory, Electrical Eng. Dept. Delft University of Technology, 1975 Amerongen, J. van and H.R. van Nauta Lemke, Optimum steering of ships with an adaptive autopilot, Proceedings 5th Ship Control Systems Symposium, Annapolis Md. USA, 1978 Amerongen, J. van and H.R. van Nauta Lemke, Experiences with a digital model reference adaptive autopilot, Proceedings International Symposium on Ship Operation Automation (ISSOA), Tokyo, Japan, 1979 Amerongen, J. van, A model reference adaptive autopilot for ships - Practical results, Proceedings IFAC World Congress, Kyoto, Japan, 1981 Åström, K.J. and B. Wittenmark, On self tuning regulators, Automatica Vol. 9, 1973 Åström, K.J., U Borisson, L. Ljung and B. Wittenmark, Theory and applications of self tuning regulators, Automatica, Vol. 13, 1977 Brink, A.W., G.Baas, A. Tiano and E. Volta, Adaptive course keeping of a supertanker and a container ship - a simulation study, Proceedings Symposium on Ship Steering Automatic Control, Genova, Italy, 1980 Eveleigh, V.W., Adaptive control and optimization techniques, Mc Graw Hill, pp. 133-277, New York, 1967 Gilbart, J.W., R.V. Monopoly and C.F. Price, Improved convergence and increased flexibility in the design of model referene adaptive control systems, Proceedings of the 9th IEEE Symposium on Adaptive Processes, Decision and Control, Austin, Tex., USA, 1970 Hang, C. and P.C. Parks, Comparative studies of model reference adaptive control systems, IEEE Trans. on Automatic Control, Vol. AC-18, no 5, pp 419-428, 1973 Herther,J.C., F.E. Warnock, K.W. Howard, W. VanVelde, Digipilot - a self-adjusting digital autopilot for better manoeuvring and improved course and track keeping, Hirsch, J.J., and P. Peltie, Real-time identification using adaptive discrete model, Proceedings 3rd IFAC Symposium on Sensitivity Adaptivity and Optimality, Ischia, Italy, 1973 Honderd, G. and J.E.W. Winkelman, An adaptive autopilot for ships, Proceedings 3rd Ship Control Systems Symposium, Bath, U.K., 1972 Källström, C.G., K.J. Åström, N.E. Thorell, J. Eriksson and L. Sten, Adaptive autopilots for tankers, Automatica, Vol. 15, pp. 241-254, 1979 Källström, C.G., Identification and adaptive control applied to ship steering, PhD thesis, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, 1979 149
Adaptive Steering of Ships Keizer, C. de, Aanpassing van de P-I-D- regelakties in een Stuurautomaat met behulp van Model Referentie Adaptatie, Report Control Laboratory, Electrical Eng. Dept., Delft University of Technology, 1976 Landau, I.D., A Survey of Model Reference Adaptive Techniques - Theory and Applications, Automatica, Vol. 10, pp. 353-379, 1974 Landau, I.D. and G. Bethoux, Algorithms for discrete time model reference adaptive systems, Proceedings 6th IFAC World Congress, Boston/Cambridge, Mass., USA, 1975 Landau, I.D., Adaptive control - the model reference approach, Marcel Dekker, Inc., New York, 1979 Lindorff, D.P. and R.L. Carroll, Survey of adaptive control techniques using Liapunov design, Intern. Journal of Control, Vol. 18, Nov. 1973 Lion, P.M., Rapid identification of linear and nonlinear systems, IAAA Journal, Vol. 5, Oct., 1967 Ohtsu, K., M. Horigome, M. Hara and G. Kitagawa, An advanced ship's autopilot system by a stochastic model, Proceedings 5th Ship Control Systems Symposium, Annapolis, Md., USA, 1978 Ohtsu, K., M. Horigome, G. Kitagawa, A new ships autopilot design through a stochastic model, Automatica, Vol 15, pp. 255-268, 1979 Parks, P.C., Liapunov redesign of model-reference adaptive control systems, IEEE Trans. AC, Vol.11, 1966 Parks, P.C., W. Schaufelberger, Chr. Schmid and H. Unbehauen, Applications of adaptive control systems, Lecture notes in Control and Information Sciences, Vol. 24, Springer Verlag, Berlin, Heidelberg, New York, 1980 Rao, S.S., Optimization, theory and applications, Wiley Eastern Limited, New Delhi, 1978 Reid, R.E. and V.E. Williams, A new ship control design criterion for improved heavy weather steering, Proceedings 5th Ship Control Systems Symposium, Annapolis, Md., USA, 1978 Schilling, A.C., Economics of autopilot steering using an IBM system/7 computer, Proceedings International Symposium on Ship Operation Automation, Washington D.C., 1976 Tiano, A., E. Volta, A.W. Brink and T.W. Verbruggen, Adaptive control of large ships in non-stationary conditions - a simulation study, Proceedings Symposium on Ship Steering Automatic Control, Genova, Italy, 1980 Truxal, J.G. in: E. Mishkin and L. Braun jr., Adaptive control systems, Mc Graw Hill, New York, 1961 Tsypkin, Y.Z., Adaptation and learning in automatic systems, Academic Press, New York, 1971 Winsor, C.A and R.J. Roy, Design of model reference adaptive control systems by Liapunovs second method, IEEE Trans. on Automatic Control, Vol. 13, no 2, p204, 1968 150
References Yakushenkov, A.A., Experience of ship steering automation in the USSR merchant marine, Proceedings 4th Ship Control Systems Symposium, The Hague, 1975 CHAPTER 5 Amerongen, J. van, W.E.J. Winkelman, Verslag van de Metingen verricht a/b van de loodsboot Capella van 220872-050972, Report Control Laboratory, Electrical Eng. Dept., Delft University of Technology, 1972 Amerongen, J. van and A.J. Udink ten Cate, Adaptive autopilots for ships, Proceedings Symposium on Ship Operation Automation, Oslo, Norway, 1973 Amerongen, J. van and C. de Keizer, Metingen aan een Adaptieve Stuurautomaat op een Van Speyk fregat, Report Control Laboratory, Electrical Eng. Dept., Delft University of Technology, 1975 Amerongen, J. van and A.J. Udink ten Cate, Model reference adaptive autopilots for ships, Automatica, Vol. 11., pp 441-449, 1975 Amerongen, J. van and J. van Breda, Beproeving van de adaptieve stuurautomaat (ASA) a/b van het R.O.V. Zeefakkel, Report Control Laboratory, Delft University of Technology, 1979 Amerongen, J. van and H.R. van Nauta Lemke, Experiences with a digital model reference adaptive autopilot, Proceedings International Symposium on Ship Operation Automation (ISSOA), Tokyo, Japan, 1979 Amerongen, J. van and H.J. Onkenhout, Trials with ASA, Report Control Laboratory, Delft University of Technology, 1980 Amerongen, J. van and H.R. van Nauta Lemke, Criteria for optimum steering of ships, Amerongen, J. van, W.F. de Goeij, J.M. Moraal, J.W. Ort and A. Postuma, Measuring the steering performance of ships during full-scale trials and model tests, Proceedings Symposium on Ship Steering Automatic Control, Genova, Italy, 1980; also in: Int. Shipbuilding Progress, Vol. 28, no. 320, 1981 Amerongen, J. van, A model reference adaptive autopilot for ships - Practical results, Proceedings IFAC World Congress, Kyoto, Japan, 1981 Keizer, C. de, Aanpassing van de P-I-D- regelakties in een Stuurautomaat met behulp van Model Referentie Adaptatie, Report Control Laboratory, Electrical Eng. Dept., Delft University of Technology, 1976 Gaag, R. van de, Kriteria voor scheepsbesturing, Report Control Laboratory, Delft University of Technology, 1979 Goeij, W.F. de, J.M. Moraal and J.W. Ort, Onderzoek naar besparing tengevolge van toepassing van een geavanceerd scheeps stuuralgoritme door middel van modelproeven, Report Control Laboratory, Delft University of Technology, 1980 Honderd, G. and J.E.W. Winkelman, An adaptive autopilot for ships, Proceedings 3rd Ship Control Systems Symposium, Bath, U.K., 1972 151
Adaptive Steering of Ships Onkenhout, H.J., UNIMET, een meetsysteem op basis van een micro computer, Report Control Laboratory, Delft University of Technology, 1979 Ohtsu, K., M. Horigome, G. Kitagawa, A new ships autopilot design through a stochastic model, Automatica, Vol 15, pp. 255-268, 1979 Vet, K., Interface adaptieve stuurautomaat, Report Control Laboratory, Delft University of Technology, 1978 CHAPTER 6 Amerongen, J. van and J.C. van Cappelle, Mathematical modelling for rudder roll stabilization, Proceedings 6th Ship Control Systems Symposium, Ottawa, Canada, 1981 Blanke, M. and J.C. Nortoft Thompson, Experiment with direct measurement of steering generated propulsion losses, 6th Ship Control Systems Symposium, Ottawa, Canada, 1981 Källström, C.G., Identification and adaptive control applied to ship steering, PhD thesis, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, 1979 Schilling, A.C., Economics of autopilot steering using an IBM system/7 computer, Proceedings International Symposium on Ship Operation Automation, Washington D.C., 1976 152