TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Aschemann, Harald
A1  - Wirtensohn, Stefan
A1  - Reuter, Johannes
T1  - Nonlinear observer-based ship control and disturbance compensation
T2  - 10th IFAC Conference on Control Applications in Marine Systems (CAMS), Trondheim, Norway, 13—16 September 2016
(IFAC-PapersOnLine Volume 49, Issue 23)
N2  - In this paper, a gain-scheduled nonlinear control structure is proposed for a surface vessel, which takes advantage of extended linearisation techniques. Thereby, an accurate tracking of desired trajectories can be guaranteed that contributes to a safe and reliable water transport. The PI state feedback control is extended by a feedforward control based on an inverse system model. To achieve an accurate trajectory tracking, however, an observer-based disturbance compensation is necessary: external disturbances by cross currents or wind forces in lateral direction and wave-induced measurement disturbances are estimated by a nonlinear observer and used for a compensation. The efficiency and the achieved tracking performance are shown by simulation results using a validated model of the ship Korona at the HTWG Konstanz, Germany. Here, both tracking behaviour and rejection of disturbance forces in lateral direction are considered.
KW  - Trajectory tracking
KW  - Disturbance rejection
KW  - Gain scheduling
KW  - Extended linearisation
KW  - Ship control
Y1  - 2016
SN  - 2405-8963
SS  - 2405-8963
U6  - https://doi.org/10.1016/j.ifacol.2016.10.358
DO  - https://doi.org/10.1016/j.ifacol.2016.10.358
N1  - Volltextzugriff für Angehörige der Hochschule Konstanz möglich.
SP  - 297
EP  - 302
ER  -