Tracking Output Robust Control of Unmanned Surface Vessel with Disturbance Cancellation and Anti-Windup
| Autor: | Oleg I. Borisov, Fatimat B. Karashaeva, Anton A. Pyrkin, Mikhail A. Kakanov |
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| Rok vydání: | 2020 |
| Předmět: |
0301 basic medicine
Disturbance (geology) Unmanned surface vehicle Computer science Internal model Tracking (particle physics) Set (abstract data type) 03 medical and health sciences 030104 developmental biology 0302 clinical medicine Control theory Robot Robust control 030217 neurology & neurosurgery Anti windup |
| Zdroj: | MED |
| Popis: | This paper shows an explicit application example of the robust output high-gain control framework augmented with the internal model and back-calculation anti-windup technique. The application in question concerns station-keeping and tracking of an unmanned surface vessel modeled as MIMO systems with cross-couplings. The framework is illustrated by a set of simulation runs under different conditions. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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