F. J. Velasco

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The aim of this paper is to obtain a model for an in- scale fast-ferry model TF-120 including the dynamics and kinematics, using a remote experimentation platform for marine vehicles. The physical model is autonomous and is controlled remotely from a PC using Wi-Fi communications. The identification and validation of the dynamical model is obtained with(More)
This paper describes a discrete linear model for the course-changing manoeuvres of a ship. A non-linear mathematical model of three degrees of freedom is used. The linear model has been obtained from a parametric model. The coefficients are obtained by means of identification. In order to validate the linear model, a comparison has been made of the(More)
This paper describes in detail the design methodology of a robust QFT (Quantitative Feedback Theory) controller for the control of the course changing of a ship. A linear model is used with uncertainty in the parameters. The system is designed to fulfil the specifications of robust stability and robust tracking of a reference system.
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