Dynamic positioning of a marine vessel using DTVSC and robust control allocation
2012
This paper presents a discrete-time variable-structure control (DTVSC) for the dynamic positioning system of a marine vessel. The DTVSC guarantees robustness with respect to environmental disturbances. Moreover, the allocation problem, in the case of vessels with azimuth thrusters, represents a challenging problem since a non-convex nonlinear problem must be solved. In this paper, the allocation problem is solved using the Damped Least Squares method. The proposed solution is compared with a PID-based control. Reported simulations show that the proposed solution produces better performance.
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