Comparing Combinations of Linear and Nonlinear Feedback Terms for Motion Control of Marine Surface Vessels

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• 作者：Mikkel Eske Nø ; rgaard Sø ; rensen^* ; ^{mikkel.sorensen@itk.ntnu.no" class="auth_mail" title="E-mail the corresponding author} ; Morten Breivik^* ; ^{morten.breivik@ieee.org" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Marine surface vessel ; Cascaded control ; Nonlinear feedback control ; Target tracking ; Constant bearing guidance ; Performance metrics
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：23
• 页码：303-310
• 全文大小：585 K

文摘

Nonlinear control algorithms are often designed with linear feedback terms. Such linear feedback typically gives rise to nice exponential stability properties, but are not physically realistic since all actuators have magnitude constraints. One way to address such constraints can be to introduce nonlinear feedback terms. Hence, this paper investigates combinations of linear and nonlinear feedback terms for pose and velocity control of marine surface vessels. Three cascaded controllers are developed and compared through three simulation scenarios and one model-scale experiment. The comparisons are made using performance metrics which consider both control accuracy and energy use.