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- Disturbance rejection (1)
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Institute
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.
Comparison and Identifiability Analysis of Friction Models for the Dither Motion of a Solenoid
(2018)
In this paper, the mechanical subsystem of a proportional solenoid excited by a dither signal is considered. The objective is to find a suitable friction model that reflects the characteristic mechanical properties of the dynamic system. Several different friction models from the literature are compared. The friction models are evaluated with respect to their accuracy as well as their practical identifiability, the latter being quantified based on the Fisher information matrix.