172480
博碩士論文
Min-Chih Lien, 連敏智
碩士 / 國立臺灣大學 / 應用力學研究所 / 87 / Abstract
This thesis applies the optimal control theory and the theory of differentially flat system to design the optimal path for the motion of a ship. The model chosen here is a nonlinear, plannar ship model. If it is allowed to use three controls, the optimal control theory can be adopted to obtain the optimal path. However, if there are only two controls allowed, i.e. the peddler and the rudder, then the optimal control method is not very useful. If...