Abstract:This article considers key theoretical and practical issues that arise in the robust control synthesis for dynamic positioning. A dynamically positioned vessel maintains its position (fixed location or predetermined track) by means of active thrusters and propellers. The concise kinematics and vessel dynamics are presented using three degrees of freedom model for describing the horizontal motions. Then, the mixed H N and m-synthesis framework has been employed to deal with perturbed model under external distur… Show more
“…Selecting h 0 = ½20m, 20m, 10rad T and v 0 = ½0m=s, 0m=s, 0rad=s T , then X(0) = ½1, 1, p=4, 0, 0, 0 T . Select ing the designed parameters as a = 10, b = 20, g 1 = 2310 4 , g 2 = 1310 À9 , and s = 1310 3 . Based on Theorem 1, one has…”
Section: Simulation Examplesmentioning
confidence: 99%
“…The dynamic positioning (DP) can keep the ship in a predetermined trajectory in the presence of external environmental disturbance. 1–3. For unknown constant disturbance, a nonlinear set-point-regulation controller was proposed using a port-Hamiltonian framework.…”
Anti-disturbance control problem is studied for ship dynamic positioning systems with model uncertainties and ocean disturbances under thruster faults. For the ocean disturbance, a stochastic disturbance observer (SDO) is established to give the online estimation. For thruster faults, an adaptive law is used to evaluate, which is obtain from Lyapunov function. For model uncertainties, a robust control term with adaptive technology is used to attenuate it. Then, a composite anti-disturbance control (CADC) strategy is raised by combining disturbance observer-based control (DOBC), adaptive technology, and robust control term, which makes the position and yaw angle of ship reach the desired values. Finally, the simulation example proves the validity of the controller.
“…Selecting h 0 = ½20m, 20m, 10rad T and v 0 = ½0m=s, 0m=s, 0rad=s T , then X(0) = ½1, 1, p=4, 0, 0, 0 T . Select ing the designed parameters as a = 10, b = 20, g 1 = 2310 4 , g 2 = 1310 À9 , and s = 1310 3 . Based on Theorem 1, one has…”
Section: Simulation Examplesmentioning
confidence: 99%
“…The dynamic positioning (DP) can keep the ship in a predetermined trajectory in the presence of external environmental disturbance. 1–3. For unknown constant disturbance, a nonlinear set-point-regulation controller was proposed using a port-Hamiltonian framework.…”
Anti-disturbance control problem is studied for ship dynamic positioning systems with model uncertainties and ocean disturbances under thruster faults. For the ocean disturbance, a stochastic disturbance observer (SDO) is established to give the online estimation. For thruster faults, an adaptive law is used to evaluate, which is obtain from Lyapunov function. For model uncertainties, a robust control term with adaptive technology is used to attenuate it. Then, a composite anti-disturbance control (CADC) strategy is raised by combining disturbance observer-based control (DOBC), adaptive technology, and robust control term, which makes the position and yaw angle of ship reach the desired values. Finally, the simulation example proves the validity of the controller.
“…A nonlinear, predictive robust controller was better in control of an autonomous plane, even with data delays, plane degradation, and instability, compared to linear controllers. The problem of vessel positioning control was also solved using H ∞ and µ synthesis, with good simulation results in frequency and time domain [17]. An efficient combination of fuzzy control and robust control strategies were applied to design the controllers for solar collector fields [18].…”
Modern turbojet engines mainly use computerized digital engine control systems. This opens the way for application of advanced algorithms aimed at increasing their operational efficiency and safety. The theory of robust control is a set of methods known for good results in complex control tasks, making them ideal candidates for application in the current turbojet engine control units. Different methodologies in the design of robust controllers, utilizing a small turbojet engine with variable exhaust nozzle designated as iSTC-21v, were therefore investigated in the article. The resulting controllers were evaluated for efficiency in laboratory conditions. The aim was to find a suitable approach and design method for robust controllers, taking into account the limitations and specifics of a real turbojet engine and its hardware, contrary to most studies which have used only simulated environments. The article shows the most effective approach in the design of robust controllers and the resulting speed controllers for a class of small turbojet engines, which can be applied in a discrete digital control environment.
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