A new recursive identification procedure of the nonlinear model ship based on the turning test manoeuvring and the norrbin equation

Resumen

In this paper has been carried out an identification procedure based on the adaptive backstepping design. The process depart of the experimental results obtained for a particular ship in the turning circle test. The ship´s dynamics has been adjusted according to the Norrbin model being the coefficients of the nonlinear manoeuvring characteristics determined by the described procedure.