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.
| Author: | Harald AschemannGND, Stefan WirtensohnORCiD, Johannes ReuterORCiD |
|---|---|
| DOI: | https://doi.org/10.1016/j.ifacol.2016.10.358 |
| ISSN: | 2405-8963 |
| 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 |
| Language: | English |
| Year of Publication: | 2016 |
| Release Date: | 2019/05/16 |
| Tag: | Trajectory tracking; Disturbance rejection; Gain scheduling; Extended linearisation; Ship control |
| First Page: | 297 |
| Last Page: | 302 |
| Note: | Volltextzugriff für Angehörige der Hochschule Konstanz möglich. |
| Open Access?: | Nein |
