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Digital Library

of the European Council for Modelling and Simulation

 

Title:

Control Design For Slow Speed Positioning

Authors:

Anna Witkowska

Published in:

 

(2013).ECMS 2013 Proceedings edited by: W. Rekdalsbakken, R. T. Bye, H. Zhang  European Council for Modeling and Simulation. doi:10.7148/2013

 

ISBN: 978-0-9564944-6-7

 

27th European Conference on Modelling and Simulation,

Aalesund, Norway, May 27th – 30th, 2013

 

Citation format:

Anna Witkowska (2013). Control Design For Slow Speed Positioning, ECMS 2013 Proceedings edited by: W. Rekdalsbakken, R. T. Bye, H. Zhang, European Council for Modeling and Simulation. doi:10.7148/2013-0198

 

DOI:

http://dx.doi.org/10.7148/2013-0198

Abstract:

The problem under study is a synthesis of position and heading control system for low frequency model of surface vessel described by 3 DOF mathematical model. The recursive vectorial backstepping control design was used to keep fixed position and heading in presence of wave disturbances. The controller has been simulated on computer model of scaled supply vessel. It has been assumed that the actuators produce generalized forces in all 3 degrees of freedom. The backstepping controller, proposed in this paper, in configuration with passive observer and wave filtering, make a good quality to keep fixed position and heading at low forward speed in comparison with PD controller.

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