Nonlinear Observer-Based Ship Control and Disturbance Compensation

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• 作者：Harald Aschemann^* ; ^{Harald.Aschemann@uni-rostock.de" class="auth_mail" title="E-mail the corresponding author} ; Stefan Wirtensohn^** ; ^{stwirten@htwg-konstanz.de" class="auth_mail" title="E-mail the corresponding author} ; Johannes Reuter^** ; ^{jreuter@htwg-konstanz.de" class="auth_mail" title="E-mail the corresponding author}
• 关键词：trajectory tracking ; disturbance rejection ; gain scheduling ; extended linearisation ; ship control
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：23
• 页码：297-302
• 全文大小：934 K

文摘

In this paper, a gain-scheduled nonlinear control structure is proposed for a surface vessel, which takes advantage of extended linearisation techniques. Thereby, an accurate tracking of desired trajectories can be guaranteed that contributes to a safe and reliable water transport. The PI state feedback control is extended by a feedforward control based on an inverse system model. To achieve an accurate trajectory tracking, however, an observer-based disturbance compensation is necessary: external disturbances by cross currents or wind forces in lateral direction and wave-induced measurement disturbances are estimated by a nonlinear observer and used for a compensation. The efficiency and the achieved tracking performance are shown by simulation results using a validated model of the ship Korona at the HTWG Konstanz, Germany. Here, both tracking behaviour and rejection of disturbance forces in lateral direction are considered.