Autor:

Witkowska, Anna ; Śmierzchalski, Roman

Współtwórca:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Tytuł:

Adaptive backstepping tracking control for an over-actuated DP marine vessel with inertia uncertainties

Tytuł publikacji grupowej:

AMCS, volume 28 (2018)

Temat i słowa kluczowe:

over-actuated control ; adaptive control ; Lyapunov function ; control allocation ; MIMO systems

Abstract:

Designing a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control theory for cascaded systems to guarantee stabilization of the marine vessel position and heading. ; Forces and torque computed from the adaptive control law are allocated to individual thrusters by employing the quadratic programming method in combination with the cascaded generalized inverse algorithm, the weighted least squares algorithm and the minimal least squares algorithm. The effectiveness of the proposed control scheme is demonstrated by simulations involving a redundant set of actuators. The evaluation criteria include energy consumption, robustness, as well accuracy of tracking during typical vessel operation.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2018

Typ zasobu:

artykuł

DOI:

10.2478/amcs-2018-0052

Strony:

679-693

Źródło:

AMCS, volume 28, number 4 (2018) ; kliknij tutaj, żeby przejść

Jezyk:

eng

Licencja CC BY 4.0:

kliknij tutaj, żeby przejść

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego