کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
699980 1460713 2014 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Modified observer backstepping controller for a dynamic positioning system
ترجمه فارسی عنوان
کنترل کننده پشت سرهم ناظر تغییر یافته برای یک سیستم موقعیت یاب پویا
کلمات کلیدی
سیستم موقعیت یاب پویا، کنترل کننده پشت سر هم ناظر، ناظر غیرخطی
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
چکیده انگلیسی


• Conventional observer backstepping controllers are inadequate for DP systems.
• Estimation error and saturation of the actuators lead to on–off-like control signals.
• A smooth commanded thrust is achieved by adding two gain matrices in the controller.
• Proposed modifications improve overall controller performance.

A procedure for attenuating the control law of a vessel dynamic positioning system, based on the observer backstepping methodology, is proposed. The motivation is the appearance of an undesirable on–off behavior on the signal sent to the actuators when their saturation is considered and the control law is dependent on estimated state variables. Two gain matrices associated with the error variables are introduced to achieve the desired attenuation. Stability is proven through Lyapunov stability analysis. Numerical simulations confirm the effectiveness of the proposed controller to render the control law compatible with the limitations of the actuators.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 33, December 2014, Pages 105–114
نویسندگان
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