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.
|Titolo:||Anti-windup Synthesis of Heading and Speed Regulators for Ship Control with Actuator Saturation|
|Data di pubblicazione:||2016|
|Appare nelle tipologie:||04.01 - Contributo in atti di convegno|