Comparison of Advanced Control Strategies for Automated Docking
- In this paper, a systematic comparison of three different advanced control strategies for automated docking of a vessel is presented. The controllers are automatically tuned offline by applying an optimization process using simulations of the whole system including trajectory planner and state and disturbance observer. Then investigations are conducted subject to performance and robustness using Monte Carlos simulation with varying model parameters and disturbances. The control strategies have also been tested in full scale experiments using the solar research vessel Solgenia. The investigated control strategies all have demonstrated very good performance in both, simulation and real world experiments. Videos are available under https://www.htwg-konstanz.de/forschung-und-transfer/institute-und-labore/isd/regelungstechnik/videos/
Author: | Stefan WirtensohnORCiD, Oliver Hamburger, Hannes HomburgerORCiD, Leticia Mayumi Kinjo, Johannes ReuterORCiD |
---|---|
DOI: | https://doi.org/10.1016/j.ifacol.2021.10.107 |
Parent Title (English): | 13th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2021), 22-24 September 2021, Oldenburg, Germany, (IFAC-PapersOnLine, Volume 54, Issue 16) |
Volume: | 54 |
Publisher: | Elsevier |
Document Type: | Conference Proceeding |
Language: | English |
Year of Publication: | 2021 |
Release Date: | 2022/01/17 |
Tag: | Automated Docking of Vessels; Nonlinear Control Design; Monte Carlo Simulations; Docking Experiments |
Issue: | 16 |
First Page: | 295 |
Last Page: | 300 |
Institutes: | Institut für Systemdynamik - ISD |
Open Access?: | Ja |
Relevance: | Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband) |
Licence (German): | Creative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International |