scholarly journals Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 193813-193826
Author(s):  
Mikkel Eske Norgaard Sorensen ◽  
Morten Breivik ◽  
Roger Skjetne
Keyword(s):  
Motion Control ◽  
Ship Motion ◽  
Nonlinear Feedback ◽  
Linear And Nonlinear

scholarly journals Nonlinear feedback controller for the synchronization of (chaotic) systems with known parameters

2020 ◽  
Vol 23 (02) ◽  
pp. 124-135
Author(s):  
Muhammad Haris ◽  
Muhammad Shafiq ◽  
Adyda Ibrahim ◽  
Masnita Misiran
Keyword(s):  
Closed Loop ◽  
Lyapunov Stability Theory ◽  
Feedback Controller ◽  
Control Signal ◽  
Stability And Convergence ◽  
Nonlinear Feedback ◽  
Nonlinear Part ◽  
Synchronization Errors ◽  
Novel Structure ◽  
Linear And Nonlinear

This paper proposes, designs, and analyses a novel nonlinear feedback controller that realizes fast, and oscillation free convergence of the synchronization error to the equilibrium point. Oscillation free convergence lowers the failure chances of a closed-loop system due to the reduced chattering phenomenon in the actuator motion, which is a consequence of low energy sm ooth control signal. The proposed controller has a novel structure. This controller does not cancel nonlinear terms of the plant in the closed-loop; this attribute improves the robustness of the loop. The controller consists of linear and nonlinear parts; each part executes a specific task. The linear term in the controller keeps the closed-loop stable, while the nonlinear part of the controller facilitates the fast convergence of the error signal to the vicinity of the origin. Then the linear controller synthesizes a smooth control signal that moves the error signals to zero without oscillations. The nonlinear term of the controller does not contribute to this synthesis. The collaborative combination of linear and nonlinear controllers that drive the synchronization errors to zero is innovative. The paper establishes proof of global stability and convergence behavior by describing a detailed analysis based on the Lyapunov stability theory. Computer simulation results of two numerical examples verify the performance of the proposed controller approach. The paper also provides a comparative study with state-of-the-art controllers.

scholarly journals Control system for trials on material ship model

2012 ◽  
Vol 19 (Special) ◽  
pp. 25-30 ◽  
Author(s):  
Janusz Pomirski ◽  
Andrzej Rak ◽  
Witold Gierusz
Keyword(s):  
Control System ◽  
Control Systems ◽  
Virtual Environment ◽  
Motion Control ◽  
Ship Motion ◽  
Matlab Simulink ◽  
Ship Model ◽  
Measurement Devices

ABSTRACT The paper presents software environement for fast prototyping and verification of motion control systems for ship. The environement is prepared for isomorphic reduced ship model which is used for training and in research in a area of ship motion control. The control system is build using Matlab-Simulink-xPC package which simplifies and accellerates design and verification of new control algorithms. The systems was prepared also for Hardwarein- the-loop trials when a designed control system is tested inside a virtual environment instead of real actuators, disturbances, communication and measurement devices.

Motion Control of a Wheeled Inverted Pendulum Using Equivalent-Input-Disturbance Approach

2015 ◽  
Vol 19 (2) ◽  
pp. 293-300
Author(s):  
Qi Shi ◽  
◽  
Zhejun Fang ◽  
Jinhua She ◽  
Junya Imani ◽  
...  
Keyword(s):  
Nonlinear System ◽  
Motion Control ◽  
Coordinate Transformation ◽  
Inverted Pendulum ◽  
Nonlinear Part ◽  
Input Disturbance ◽  
Wheeled Inverted Pendulum ◽  
Linear And Nonlinear ◽  
Simulation Results ◽  
Equivalent Input Disturbance

This paper presents a new method for controlling the motion of a wheeled inverted pendulum (WIP) based on the equivalent-input-disturbance (EID) approach. Coordinate transformation first transforms the WIP into a simple nonlinear system divided into linear and nonlinear parts. The nonlinear part is then treated as a state-and-input-dependent disturbance, and the EID approach is used to estimate and compensate it. Simulation results of an NXTway-GS demonstrate the validity of the method.

Ship Motion Control System for Replenishment Operation

2016 ◽  
Vol 817 ◽  
pp. 214-222
Author(s):  
Witold Gierusz ◽  
Anna Miller
Keyword(s):  
Control System ◽  
Motion Control ◽  
Main Part ◽  
Ship Motion ◽  
The Other ◽  
Reference Trajectory ◽  
Model Predictive Controller ◽  
Motion Control System ◽  
Parallel Motion ◽  
Predictive Controller

Underway Replenishment is a procedure whose importance is rising in shipping. It is applied both to the naval and civil vessels. That is the reason why research in this area was undertaken. In this paper idea of the ship motion control system for replenishment operations was presented. The outline of the system is described in a detail way. This system incorporates Model Predictive Controller as a main part of the proposed algorithm. The other important part of the control system is a reference trajectory for the approaching ship generation. Conducted computer simulations prove that there is a possibility to synthesize MPC controller to maintain the pair of ships parallel motion during the UNREP operation.

Adaptive Nonlinear Synchronization Control of Twin-Gyro Precession

2005 ◽  
Vol 128 (3) ◽  
pp. 592-599 ◽  
Author(s):  
Di Zhou ◽  
Tielong Shen ◽  
Katsutoshi Tamura
Keyword(s):  
Motion Control ◽  
Feedback Linearization ◽  
Controller Design ◽  
Open Loop ◽  
Feedback Controller ◽  
Nonlinear Feedback ◽  
Nonlinear Controller ◽  
Control Moment ◽  
Command Signals ◽  
Control Moment Gyro

The slewing motion of a truss arm driven by a V-gimbaled control-moment gyro is studied. The V-gimbaled control-moment gyro consists of a pair of gyros that must precess synchronously. For open-loop slewing motion control, the controller design problem is simplified into finding a feedback controller to steer the two gyros to synchronously track a specific command. To improve the synchronization performance, the integral of synchronization error is introduced into the design as an additional state variable. Based on the second method of Lyapunov, an adaptive nonlinear feedback controller is designed. For more accurate but complicated closed-loop slewing motion control, the feedback linearization technique is utilized to partially linearize the nonlinear nominal model, where two specific output functions are chosen to satisfy the system tracking and synchronization requirements. The system tracking dynamics are bounded by properly determining system indices and command signals. For the partially linearized system, the backstepping tuning function design approach is employed to design an adaptive nonlinear controller. The dynamic order of the adaptive controller is reduced to its minimum. The performance of the proposed controllers is verified by simulation.

The Adaptive Ship Motion Control Based on Fuzzy Neural Network

2011 ◽  
Vol 135-136 ◽  
pp. 989-994 ◽  
Author(s):  
Guan Shan Hu ◽  
Hai Rong Xiao
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Motion Control ◽  
Reference Model ◽  
Tracking System ◽  
Good Control ◽  
Ship Motion ◽  
Network Systems ◽  
Model Reference ◽  
Model Reference Adaptive

Given the uncertainty of parameters and the random nature of disturbance, a ship motion, is a complicated control problem. This paper has researched adaptive neural network systems and its application to ship’s motion control. In paper, Ship’s mathematical model is researched. Aimed at ship mathematical motion model, the model reference adaptive auto pilot is first designed based on the analysis of the model reference adaptive control theory. We used fuzzy logic and neural networks to design the feedback controller, used multilayer perceptron neural network to design the reference model and the ship course identification model network. Based on the fuzzy control and neural network, an intelligent adaptive control algorithm was presented in the paper. In consideration of the forces and moments from the environmental disturbance, such as winds, waves, currents, etc., Simulation experiments are carried out by using Matlab’s Simulink toolbox. The simulating result indicates the designed adaptive controller can get a good control performance for ship course tracking system.

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