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Nonlinear observer-based ship control and disturbance compensation

  • 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.

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Author:Harald AschemannGND, Stefan Wirtensohn, Johannes ReuterORCiD
Parent Title (English):10th IFAC Conference on Control Applications in Marine Systems (CAMS), Trondheim, Norway, 13—16 September 2016 (IFAC-PapersOnLine Volume 49, Issue 23)
Document Type:Conference Proceeding
Year of Publication:2016
Release Date:2019/05/16
Tag:Disturbance rejection; Extended linearisation; Gain scheduling; Ship control; Trajectory tracking
First Page:297
Last Page:302
Volltextzugriff für Angehörige der Hochschule Konstanz möglich.
Relevance:Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband)
Open Access?:Nein