In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to testing ships. Recently, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement and started to test autonomous ships in the defined area. Considering recent technology trends and background, in this paper, the authors also try to develop autonomous ship control technologies. In the designed control system, an observer is introduced to estimate unmeasurable system states. Based on the servosystem with state estimator, ship motion control experiment is performed to evaluate control performance using a model ship in water basin.

서 론
 재료 및 방법
  제어대상의 수식적 표현
  실험선박의 물리특성 및 파라미터 추정
  제어기 설계
  실험을 위한 제어·계측장비
  실험방법 및 결과
 결과 및 고찰
 결 론
 References

• 김경현(부경대학교 대학원 제어기계공학과) | Kyong-Hyon KIM (Department of Control and Mechanical Engineering, Pukyong National University)
• 서진호(부경대학교 기계시스템공학과) | Jin-Ho SUH (Department of Mechanical System Engineering, Pukyong National University)
• 김영복(부경대학교 기계시스템공학과) | Young-Bok KIM (Department of Mechanical System Engineering, Pukyong National University) Corresponding author