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
2016-01-01
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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