Semiglobal exponential output feedback control of ships

Author

Vik, Bjørnar ; Fossen, Thor I.

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

Volume

5

Issue

3

fYear

1997

fDate

5/1/1997 12:00:00 AM

Firstpage

360

Lastpage

370

Abstract

This paper describes a semiglobal exponentially stable output feedback control law for automatic heading control of ships described by a nonlinear model. Only compass (yaw angle) feedback is used. The yaw rate signal is reconstructed by a linear observer. A wave filter is included in the observer to reduce wear and tear on the rudder servo due to first-order wave-induced disturbances. Integral action is included in the control law to compensate for wave drift (second-order wave disturbances), low-frequency wind, and current disturbances. The performance and robustness of the controller are demonstrated in a simulation study of two medium-sized ships

Keywords

asymptotic stability; feedback; nonlinear control systems; observers; robust control; ships; automatic heading control; compass feedback; current disturbances; first-order wave-induced disturbances; integral action; linear observer; low-frequency wind; nonlinear model; robustness; second-order wave disturbances; semiglobal exponential output feedback control; ships; wave drift; wave filter; Automatic control; Colored noise; Control systems; Filters; Goniometers; Marine vehicles; Noise measurement; Observers; Output feedback; State estimation;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.572132

Filename

572132