- Title
- On the tuning of nested-structure dynamic-positioning control of a marine craft
- Creator
- Kazantzidou, Christina; Perez, Tristan; Donaire, Alejandro
- Relation
- 2017 Asian Control Conference (ASCC). Proceedings of 2017 Asian Control Conference (ASCC) (Gold Coast, QLD 17-20 December, 2017) p. 2663-2668
- Publisher Link
- http://dx.doi.org/10.1109/ASCC.2017.8287597
- Publisher
- Institute of Electrical and Electronics Engineers
- Resource Type
- conference paper
- Date
- 2018
- Description
- In this paper, we propose tuning methods for a classical nonlinear dynamic positioning (DP) controller, based on a nested velocity and position feedback structure, for a marine craft moving in the horizontal plane. In particular, the problem is considered for fully-actuated marine craft. We describe the main characteristics of the DP problem and review the basic architecture of a classical DP system with nested loops. Then we design two DP control schemes: Diagonally decoupling, and diagonal controller, and propose tuning methods for the controllers, based on pole assignment and numerical optimisation. The performance and robustness of the designed controllers are compared through simulations for an autonomous underwater vehicle.
- Subject
- tuning; poles and zeros; dynamics; motion control; vehicle dynamics; kinematics
- Identifier
- http://hdl.handle.net/1959.13/1465101
- Identifier
- uon:47206
- Identifier
- ISBN:9781509015733
- Language
- eng
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