ADAPTIVE LQR COURSE-KEEPING CONTROLLER FOR THE NONLINEAR MIMO MODEL OF A CONTAINER VESSEL
Michał Brasel
michal.brasel@zut.edu.plWest Pomeranian University of Technology in Szczecin (Poland)
Abstract
In the paper an adaptive control system for the nonlinear 4-DoF model of a container vessel is presented. The considered model of the ship includes input signals saturations and dynamics of actuators. Main goal of the presented control system is control of the course angle and speed of the ship relative to water. The system synthesis is carried out by means of LQ-optimal control method. Sets of controller parameters are designed using linearization of the considered model in the nominal steady-state operating points of the ship. The final part of the paper includes simulation results of control system operation with full nonlinear MIMO model of the container vessel.
Keywords:
optimal control, adaptive control, nonlinear systems, nonlinear model of a shipReferences
Äström K., Wittenmark B.: Adaptive control, Addison Wesely, 1995.
Google Scholar
Brasel. M, Bańka S.: Adaptive LQR Control System for Nonlinear MIMO Model of a Drill-Ship with Wind Disturbances, XIV International PhD Workshop OWD 2012, 20-23 October, Wisła, Poland, 2012, s. 81-84.
Google Scholar
Dworak P., Jaroszewski K., Brasel M.: Rozmyty regulator TSK do sterowania obiektem cieplnym MIMO. Przegląd Elektrotechniczny 10a, 2012, s. 83-87.
Google Scholar
Dworak P., Jaroszewski K., Brasel M.: Neuronowy regulator do sterowania nieliniowym obiektem cieplnym MIMO. Przegląd Elektrotechniczny 10a, 2012, s. 79-83.
Google Scholar
Fossen T. I.: Guidance and Control of Ocean Vehicles. John Wiley and Sons, 1994.
Google Scholar
Morse A.S.: Control Using Logic-Based Switching, Trends in Control: A European Perspective, Springer-Verlag, 1998, s. 69-113.
Google Scholar
Shengxiang J., Voulgaris P.G.: Performance Optimization of Switched Systems: A Model Matching Approach, IEEE Transactions on Automatic Control, 54, 2009, nr 9, s. 2058-2071.
Google Scholar
Son, K. H., Nomoto K.: On the Coupled Motion of Steering and Rolling of a High Speed Container, J.S.N.A., Japan, 1981, Vol. 150, s. 232-244.
Google Scholar
Yamé J., Kinnaert M., Delwiche T.: Parametrization of MIMO multi-controller schemes for bumpless switching, European Control Conference, ECC'07, Kos, Greece, 2007.
Google Scholar
Authors
Michał Braselmichal.brasel@zut.edu.pl
West Pomeranian University of Technology in Szczecin Poland
Statistics
Abstract views: 198PDF downloads: 118
License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
