{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,28]],"date-time":"2026-01-28T20:09:55Z","timestamp":1769630995611,"version":"3.49.0"},"reference-count":50,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2020,6,22]],"date-time":"2020-06-22T00:00:00Z","timestamp":1592784000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The article described two full multidimensional controllers applied to steer a real vessel named \u2018Blue Lady\u2019 that is used by the Foundation for Safety of Navigation and Environment Protection at its training and research facility loacted at Silm lake in Poland. Both controllers were based on different approaches, but finally gave similar results. The first part describes the object to be controlled which is a training ship used for training of navigators in various conditions, areas and manoeuvres. This is followed by a short description of the theory for both controllers, Robust and Linear Matrix Inequalities (LMI). Next real time trials are described, which are 3 different manouvers for low velocities, executed by both LMI and Robust contrllers. In these trials \u2018Blue Lady\u2019 velocities, silhouete trajectory ans wind data are recorded. Finally the quality of work for both controllers is collected in two tables.<\/jats:p>","DOI":"10.3390\/s20123533","type":"journal-article","created":{"date-parts":[[2020,6,23]],"date-time":"2020-06-23T09:05:33Z","timestamp":1592903133000},"page":"3533","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Effectiveness of Multidimensional Controllers Designated to Steering of the Motions of Ship at Low Speed"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0799-0409","authenticated-orcid":false,"given":"Witold","family":"Gierusz","sequence":"first","affiliation":[{"name":"Department of Ship Automation, Gdynia Maritime University, 81-225 Gdynia, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8518-865X","authenticated-orcid":false,"given":"Monika","family":"Rybczak","sequence":"additional","affiliation":[{"name":"Department of Ship Automation, Gdynia Maritime University, 81-225 Gdynia, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,6,22]]},"reference":[{"key":"ref_1","unstructured":"Fossen, T.I. 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