Obtaining First and Second Order Nomoto Models of a Fluvial Support Patrol using Identification Techniques

Sandra Carrillo, Juan Contreras


In this paper we present a method for obtaining a second order Nomoto model that describes the yaw dynamic of a Patrol River Boat. This model is obtained from experimental input and output data gathered from the turning circle maneuver. System identifications techniques and a gray box model are employed to find the coefficients of the Nomoto model.  The results of the identification process as well as the results of validation process are presented


second order Nomoto model; coefficients of Nomoto; maneuverability; system identification; gray box model

Full Text:



WANG MENG, LI HONG SHENG, MIAO QING and BIAN GUANG RONG. “Intelligent control algorithm for ship dynamic positioning”. Archives of Control Sciences, Vol. 24, No. 4, p.p.: 479-497. 2014.

HAIJUN XU, WEI LI, YANG YU and YONG LIU. “A Novel Adaptive Neural Control Scheme for Uncertain Ship Coursekeeping System”. Sensors & Transducers, Vol. 178, No. 9, p.p.: 282-285, 2014.

SK. SHARMA, W. NAEEM, R. SUTTON. “An Autopilot Based on a Local Control Network Design for an Unmanned Surface Vehicle”. The Journal of Navigation. Vol. 65, p.p.: 281-301. 2012.

VELASCO, F.J., REVESTIDO, E., LÓPEZ, E., MOYANO, E., HARO CASADO, M. “Autopilot and Track-Keeping Simulation of an Autonomous In-scale Fast-ferry Model”. 12th WSEAS International Conference on Systems, Heraklion, Greece, July 22-24, 2008.

VELASCO, F.J., REVESTIDO, E., LÓPEZ, E., MOYANO, E., HARO CASADO, M. “Simulation of an Autonomous In-scale Fast-ferry Model”. International Journal of System Applications, Engineering and Development , Vol. 2, No.3, p.p.: 114-121. 2008.

BANAZADEH A, GHORBANI MT. Frequency domain identification of the Nomotomodel to facilitate Kalman filter estimation and PID heading control of a patrolvessel. Ocean Eng 2013;72:344-55.

AULIA ZITI AISJAH, An Analysis Nomoto Gain and Norbin Parameter on Ship Turning Maneuver , IPTEK, The Journal for Technology and Science, Vol. 21, No. 2, May 2010.

CARREÑO, J. E., “Simulación de maniobras de buques con sistemas de propulsión no convencional en aguas poco profundas”, Madrid, España: Universidad Politécnica de Madrid, Tesis doctoral, 2012.

CARREÑO, J. E., MORA, J. D., PÉREZ, F. L., “Mathematical model for maneuverability of a riverine support patrol vessel with a pump-jet propulsion system”, Ocean Engineering, Vol. 63, 2013, pp. 96-104

T. I. FOSSEN, Guidance and Control of Ocean Vehicles, John Wiley and Sons,New York, 1994.

TZENG, C., and CHEN, J., “Fundamental Properties of Linear Ship Steering Dynamic Models,” Journal of Marine Science and Technology, Vol. 7, No. 2, pp 79-88, 1999.

REVESTIDO E., VELASCO F., LÓPEZ E., Diseño de Experimentos para la Estimación de Parámetros de Modelos de Maniobra Lineales de Buques. Elsevier Revista Iberoamericana de Automática e Informática industrial 9 (2012) 123-134.

POLLAND, S. Recursive parameter identification for estimating and displaying Maneuvering vessel path, Thesis 2003.

Article Metrics

Metrics Loading ...

Metrics powered by PLOS ALM

Copyright (c) 2018

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.

ISSN: 1909-8642 (Impreso)

ISSN: 2619-645X (Online)

Revista en OJS implementada por Biteca Ltda.