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Fig. 7 Ship trajectory.
Therefore, for each situation along the ship trajectory, the triple controllers should be designed.
Secondly, the method of restoring the full trajectory incorporating navigational features of the inland waterway ship is proposed to model the ship trajectory.
The aim of control is to track with ε-accuracy a ship trajectory and to reduce the effect of waves disturbances on roll motion.
In this paper the problem of ship trajectory tracking is considered for a containership described by a three-degrees-of-freedom coupled multivariable model.
The AIS data collected by an AIS-shipboard-unit is then used to: (1) restore the ship trajectory, and (2) validate the proposed method by comparing the reconstituted trajectories with the actual trajectory.
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The results indicate that the proposed method is helpful to identify gaps between current ship routing system plan and cumulative activity patterns recognised by real ship trajectories.
Compared with existing methods, the proposed method helps to identify cumulative activity patterns for ship groups derived from mass ship trajectories, and provides a clearer interpretation of shifting space-use patterns within strait corridors.
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Controllers are designed to stabilise the entire system at all situations of a ship's trajectory.
Figure 7 shows the ship's trajectory; rover positions are determined a 1-s intervals and are expressed in a local topocentric coordinate system for which the reference station is the origin.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com