Wave disturbance rejection for AUV heading control based on internal-model-principle

2016 ◽  
Author(s):  
Qing Yang ◽  
Hao Su ◽  
Gong-you Tang ◽  
De-xin Gao
Keyword(s):  
Disturbance Rejection ◽  
Internal Model ◽  
Wave Disturbance ◽  
Internal Model Principle ◽  
Heading Control

scholarly journals Ship course control system with compensation of external disturbance on steering gear

2021 ◽  
Vol 2021 (4) ◽  
pp. 34-42
Author(s):  
Alexander Aleksandrovich Dyda ◽  
Van Thanh Nguyen ◽  
Dmitry Aleksandrovich Oskin
Keyword(s):  
Control System ◽  
Internal Model ◽  
External Disturbance ◽  
Water Environment ◽  
Control Object ◽  
Original System ◽  
Wave Disturbance ◽  
Synthesis Methods ◽  
Heading Control ◽  
External Water

The article focuses on developing synthesis methods for automatic heading control systems for the rudder-controlled sea vessel. The solution of the problem of vessel heading control is carried out in the conditions of heavy sea. The disturbing effect of the external water environment causes the vessel yawning, which results in exceeding activity of the steering gear. This leads to its increased wear and loss in the longitudinal speed of the vessel. To reduce the wave effect there has been supposed an approach based on the additionally introduced internal model of the ship dynamics. The given approach is aimed at improving the operation of the steering gear in rough seas. To implement the proposed algorithm, changes are made to the original system by introducing an internal model in parallel to the control object and modifying the feedback channel of the control system. To describe the sea vessel dynamics there is used the 1st order Nomoto model, the steering gear model is implemented in accordance with the imposed speed limits and the rudder shift value. Wave disturbance is close to harmonic disturbance. The identification of the parameters of the internal model can be carried out in advance, both by maneuvering tests and by the process of operation. Numerical simulations carried out in the MATLAB/Simulink system confirmed the advantage of the proposed approach. The synthesis of control in a system with an internal model makes it possible to significantly neutralize the influence of wave disturbance. The modifications introduced to the original control system help to improve functioning of the steering gear, significantly reducing the number of rudder shifts during operation.

scholarly journals Design of the impact controlling structure applying conventional digital control laws

2005 ◽  
Vol 18 (3) ◽  
pp. 361-377
Author(s):  
Milic Stojic ◽  
Milan Matijevic
Keyword(s):  
Digital Control ◽  
Disturbance Rejection ◽  
Internal Model ◽  
Design Procedure ◽  
Experimental Setup ◽  
External Disturbances ◽  
Control Laws ◽  
Internal Model Principle ◽  
And Control ◽  
The Impact

The design of a simplified IMPACT (Internal Model Principle and Control Together) structure comprising conventional digital control laws is presented. The design procedure is accomplished to enable the extraction of a known class of immeasurable external disturbances and easy setting of the controller parameters. In the proposed controlling structure, the set point transient response and speed of disturbance rejection can be adjusted independently. The efficiency and robustness of the proposed controlling structure are verified and tested by the simulation and experimental setup.

K-Fold Exosystem and the Robust Nonlinear Servomechanism Problem

1998 ◽  
Vol 120 (1) ◽  
pp. 149-153 ◽  
Author(s):  
Jie Huang
Keyword(s):  
Feedback Control ◽  
Nonlinear Systems ◽  
Output Feedback ◽  
Disturbance Rejection ◽  
Internal Model ◽  
Output Feedback Control ◽  
Uncertain Nonlinear Systems ◽  
Internal Model Principle ◽  
Asymptotic Tracking

Asymptotic tracking and disturbance rejection in uncertain nonlinear systems is studied in the context of output feedback control. This study is facilitated by formalizing the notion of k-fold exosystem and generalizing the internal model principle to the nonlinear setting.

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