Discrete Time Variable Structure Control for the Dynamic Positioning of an Offshore Supply Vessel

Autor:	Sauro Longhi, Gianluca Ippoliti, Flavia Benetazzo, Paolo Raspa
Rok vydání:	2012
Předmět:	Extended Kalman filter Engineering Control theory Robustness (computer science) business.industry PID controller Dynamic positioning Submarine pipeline Control engineering Kalman filter business Invariant extended Kalman filter Parametric statistics
Zdroj:	IFAC Proceedings Volumes. 45:171-176
ISSN:	1474-6670
Popis:	This paper presents a Discrete-Time Variable-Structure Control (DTVSC) for the dynamic positioning system of a marine supply vessel. The DTVSC guarantees robustness with respect to disturbances and parametric variations. Two wave-filtering approaches are employed: the Extended Kalman filter (EKF) and the multi-rate Kalman filter (MREKF). The proposed solution is compared with a PID-based control and a passive non-linear wave filter. The reported simulations show that the proposed solution produces better performances and it is robust in the presence of input disturbances and model uncertainties.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::b36c25632b1e2b20424f68f98afd7576 https://doi.org/10.3182/20120531-2-no-4020.00041 Zobrazit plný text záznamu