Bjørnar Vik

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This paper describes a semi-global exponentially stable output feedback control law for automatic heading control of ships described by a nonlinear model. Only compass (yaw angle) feedback is used. The yaw rate signal is reconstructed by a linear observer. A wave lter is included in the observer to reduce wear and tear on the rudder servo due to 1st-order(More)
The advantages of integrating GPS and INS are well known. One of the bene¿ts is that in the event of jamming or high dynamics, the GPS correlator loops can be aided by corrected INS measurements. The external INS measurement allows the bandwidth of the tracking loops to be lowered, thus making it possible for the receiver to track weak satellite signals.(More)
In this paper we show how the development of software for control system experiments has changed in our department the last 10 years. Different solutions for rapid development and deployment are presented, with our evaluation of cost vs benefits of using these when learning time, acquisition cost and required coding are considered. Copyright © 2002 IFAC.
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