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Dynamic Positioning System with Vectorial Backstepping Controller

Abstract

The problem of synthesis a dynamic positioning system for low frequency model of surface vessel was considered in this paper. The recursive vectorial backstepping control design was used to keep a fixed position and heading in presence of wave disturbances. The passive observer was introduced to smooth the measurements and to estimate the velocities needed for the control algorithm. Some parameters of observer were optimized off-line using GA. The computer simulation results were given to demonstrate the effectiveness of that combination of controller-observer system to compensate environmental disturbances. The simulation results were compared with PID controller.

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Category:
Conference activity
Type:
materiały konferencyjne indeksowane w Web of Science
Title of issue:
18th International Conference on Methods & Models in Automation & Robotics (MMAR 2013) strony 842 - 847
Language:
English
Publication year:
2013
Bibliographic description:
Witkowska A..: Dynamic Positioning System with Vectorial Backstepping Controller, W: 18th International Conference on Methods & Models in Automation & Robotics (MMAR 2013), 2013, IEEE,.
DOI:
Digital Object Identifier (open in new tab) 10.1109/mmar.2013.6670022
Verified by:
Gdańsk University of Technology

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