On the tuning of nested-structure dynamic-positioning control of a marine craft

Title: On the tuning of nested-structure dynamic-positioning control of a marine craft
Creator: Kazantzidou, Christina; Perez, Tristan; Donaire, Alejandro
Relation: 2017 Asian Control Conference (ASCC). Proceedings of 2017 Asian Control Conference (ASCC) (Gold Coast, QLD 17-20 December, 2017) p. 2663-2668
Publisher Link: http://dx.doi.org/10.1109/ASCC.2017.8287597
Publisher: Institute of Electrical and Electronics Engineers
Resource Type: conference paper
Date: 2018
Description: In this paper, we propose tuning methods for a classical nonlinear dynamic positioning (DP) controller, based on a nested velocity and position feedback structure, for a marine craft moving in the horizontal plane. In particular, the problem is considered for fully-actuated marine craft. We describe the main characteristics of the DP problem and review the basic architecture of a classical DP system with nested loops. Then we design two DP control schemes: Diagonally decoupling, and diagonal controller, and propose tuning methods for the controllers, based on pole assignment and numerical optimisation. The performance and robustness of the designed controllers are compared through simulations for an autonomous underwater vehicle.
Subject: tuning; poles and zeros; dynamics; motion control; vehicle dynamics; kinematics
Identifier: http://hdl.handle.net/1959.13/1465101
Identifier: uon:47206
Identifier: ISBN:9781509015733
Language: eng
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