Heading and speed control for a patrol vessel is addressed by using simple PID regulators. The selection of the PID parameters for both controllers is accomplished by using decoupled linearized model of the original motion equations and LMIs as a design tool. The effectiveness of the resulting controllers is validated on the original dynamic equations and with the presence of external disturbances such as wind, waves, and current.
System control design of autopilot and speed pilot for a patrol vessel by using LMIs
ALESSANDRI, ANGELO;DONNARUMMA, SILVIA;VIGNOLO, STEFANO;FIGARI, MASSIMO;MARTELLI, MICHELE;
2015-01-01
Abstract
Heading and speed control for a patrol vessel is addressed by using simple PID regulators. The selection of the PID parameters for both controllers is accomplished by using decoupled linearized model of the original motion equations and LMIs as a design tool. The effectiveness of the resulting controllers is validated on the original dynamic equations and with the presence of external disturbances such as wind, waves, and current.
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