Abstract
The article described two full multidimensional controllers applied to steer a real vessel named ‘Blue Lady’ that is used by the Foundation for Safety of Navigation and Environment Protection at its training and research facility loacted at Silm lake in Poland. Both controllers were based on different approaches, but finally gave similar results. The first part describes the object to be controlled which is a training ship used for training of navigators in various conditions, areas and manoeuvres. This is followed by a short description of the theory for both controllers, Robust and Linear Matrix Inequalities (LMI). Next real time trials are described, which are 3 different manouvers for low velocities, executed by both LMI and Robust contrllers. In these trials ‘Blue Lady’ velocities, silhouete trajectory ans wind data are recorded. Finally the quality of work for both controllers is collected in two tables.
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Reference50 articles.
1. Guidance and Control of Ocean Vehicles;Fossen,1994
2. Kalman filtering for positioning and heading control of ships and offshore rigs;Fossen;IEEE Control Syst. Mag.,2009
3. Swarm intelligence applied to identification of nonlinear ship steering model;Tomera,2015
4. Improved Concise Backstepping Control of Course Keeping for Ships Using Nonlinear Feedback Technique
Cited by
9 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献