کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
8065675 1520694 2015 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Linear active disturbance rejection control of the hovercraft vessel model
ترجمه فارسی عنوان
کنترل اختلال فعالانه خطی مدل کشتی هواپیما
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
چکیده انگلیسی
A linearizing robust dynamic output feedback control scheme is proposed for earth coordinate position variables trajectory tracking tasks in a hovercraft vessel model. The controller design is carried out using only position and orientation measurements. A highly simplified model obtained from flatness considerations is proposed which vastly simplifies the controller design task. Only the order of integration of the input-to-flat output subsystems, along with the associated input matrix gain, is retained in the simplified model. All the unknown additive nonlinearities and exogenous perturbations are lumped into an absolutely bounded, unstructured, vector of time signals whose components may be locally on-line estimated by means of a high gain Generalized Proportional Integral (GPI) observer. GPI observers are the dual counterpart of GPI controllers providing accurate simultaneous estimation of each flat output associated phase variables and of the exogenous and endogenous perturbation inputs. These observers exhibit remarkably convenient self-updating internal models of the unknown disturbance input vector components. These two key pieces of on-line information are used in the proposed feedback controller to conform an active disturbance rejection, or disturbance accommodation, control scheme. Simulation results validate the effectiveness of the proposed design method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 96, 1 March 2015, Pages 100-108
نویسندگان
, , ,