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Mathematical Problems in Engineering
Volume 2013, Article ID 890120, 13 pages
Research Article

Semiphysical Modelling of the Nonlinear Dynamics of a Surface Craft with LS-SVM

1Departament of Computer Science and Automatic Control, National University Distance Education (UNED), Madrid, Spain
2Department of Computer Architecture and Automatic Control, Universidad Complutense de Madrid (UCM), Madrid, Spain

Received 12 July 2013; Accepted 31 October 2013

Academic Editor: Siddhivinayak Kulkarni

Copyright © 2013 David Moreno-Salinas et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


One of the most important problems in many research fields is the development of reliable mathematical models with good predictive ability to simulate experimental systems accurately. Moreover, in some of these fields, as marine systems, these models play a key role due to the changing environmental conditions and the complexity and high cost of the infrastructure needed to carry out experimental tests. In this paper, a semiphysical modelling technique based on least-squares support vector machines (LS-SVM) is proposed to determine a nonlinear mathematical model of a surface craft. The speed and steering equations of the nonlinear model of Blanke are determined analysing the rudder angle, surge and sway speeds, and yaw rate from real experimental data measured from a zig-zag manoeuvre made by a scale ship. The predictive ability of the model is tested with different manoeuvring experimental tests to show the good performance and prediction ability of the model computed.