Heading and speed control for a patrol vessel is addressed by using simple PID regulators provided with an anti-windup setup. The selection of the PID and anti-windup parameters for both controllers is accomplished by using a 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, nonlinear dynamic equations and in the presence of external disturbances such as wind, waves, and current.

Anti-windup Synthesis of Heading and Speed Regulators for Ship Control with Actuator Saturation

DONNARUMMA, SILVIA;ZACCARIAN, LUCA;ALESSANDRI, ANGELO;VIGNOLO, STEFANO
2016

Abstract

Heading and speed control for a patrol vessel is addressed by using simple PID regulators provided with an anti-windup setup. The selection of the PID and anti-windup parameters for both controllers is accomplished by using a 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, nonlinear dynamic equations and in the presence of external disturbances such as wind, waves, and current.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11567/839719
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