B. Vik et Ti. Fossen, SEMIGLOBAL EXPONENTIAL OUTPUT-FEEDBACK CONTROL OF SHIPS, IEEE transactions on control systems technology, 5(3), 1997, pp. 360-370
Citations number
9
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
This paper describes a semiglobal exponentially stable output feedback
control law for automatic heading control of ships described by a non
linear model, Only compass (yaw angle) feedback is used. The yaw rate
signal is reconstructed by a linear observer, A wave filter is include
d in the observer to reduce wear and tear on the rudder servo due to f
irst-order wave-induced disturbances, Integral action is included in t
he control law to compensate for wave drift (second-order wave disturb
ances), low-frequency wind, and current disturbances, The performance
and robustness of the controller are demonstrated in a simulation stud
y of two medium-sized ships.