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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Control Design For Slow Speed
Positioning |
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Authors: |
Anna Witkowska |
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Published in:
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(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 |
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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 |
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DOI: |
http://dx.doi.org/10.7148/2013-0198 |
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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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