Citation:
Evgeny I. Veremey.Dynamical Correction of Control Laws for Marine Ships’ Accurate Steering[J].Journal of Marine Science and Application,2014,(2):127-133.[doi:10.1007/s11804-014-1250-1]
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Dynamical Correction of Control Laws for Marine Ships’ Accurate Steering
Evgeny I. Veremey.Dynamical Correction of Control Laws for Marine Ships’ Accurate Steering[J].Journal of Marine Science and Application,2014,(2):127-133.[doi:10.1007/s11804-014-1250-1]
Info
- Title:
- Dynamical Correction of Control Laws for Marine Ships’ Accurate Steering
- Author(s):
- Evgeny I. Veremey
- Affilations:
- Keywords:
- marine ships; control law; dynamical corrector; accurate steering; autopilot; sea wave
- DOI:
- 10.1007/s11804-014-1250-1
- Abstract:
- The objective of this work is the analytical synthesis problem for marine vehicles autopilots design. Despite numerous known methods for a solution, the mentioned problem is very complicated due to the presence of an extensive population of certain dynamical conditions, requirements and restrictions, which must be satisfied by the appropriate choice of a steering control law. The aim of this paper is to simplify the procedure of the synthesis, providing accurate steering with desirable dynamics of the control system. The approach proposed here is based on the usage of a special unified multipurpose control law structure that allows decoupling a synthesis into simpler particular optimization problems. In particular, this structure includes a dynamical corrector to support the desirable features for the vehicle’s motion under the action of sea wave disturbances. As a result, a specialized new method for the corrector design is proposed to provide an accurate steering or a trade-off between accurate steering and economical steering of the ship. This method guaranties a certain flexibility of the control law with respect to an actual environment of the sailing; its corresponding turning can be realized in real time onboard.
References:
Bokova YM, Veremei EI (1996). Numerical aspects of spectral method of H∞-optimal synthesis. Journal of Automation and Information Sciences, 28(5-6), 1-12. Dove MJ, Wright CB (1991). Development of marine autopilots. 3th International Conference on Control Applications Computer Methods in Marine and Offshore Engineering, Key Biscayne, USA, 259-272. Doyle JC, Francis BA, Tanenbaum AR (1992). Feedback control theory. Mac Millan, New York, 1-202. Fossen TI (1994). Guidance and control of ocean vehicles. John Wiley & Sons., New York, 1-480. Hammound S, Mohamed D (2012). Ship motion control using multi-controller structure. Ocean Engineering, 55, 184-190. Perez T (2005). Ship motion control: course keeping and roll stabilization using rudder and fins. Springer-Verlag, London, 1-300. Veremei EI, Korchanov VM (1989). Multiobjective stabilization of a certain class of dynamic systems. Automat and Remote Control, 49(9), 1210-1219. Veremey EI (2010). Synthesis of multiobjective control laws for ship motion. Gyroscopy and Navigation, 1(2), 119-125. Veremey EI (2011). Algorithms for solving a class of problems of H∞-optimization of control systems. Journal of Computer and Systems Sciences International, 50(3), 403-412. Veremey EI (2012). H∞-approach to wave disturbance filtering or marine autopilots. Proceedings of 9th IFAC Conference on Maneuvering and Control of Marine Craft. Arenzano, Italy, 410-415. Veremey EI (2013). Dynamical correction of positioning control laws. Proceedings of 9th IFAC Conference on Control Applications in Marine Systems. Osaka, Japan, 31-36.
Memo
- Memo:
- Partially supported by Russian Foundation for Basic Research (Research project No. 14-07-00083a).
