Design of a passive nonlinear observer and a backstepping controller for surface vessels. / Projeto de um observador passivo não-linear e de um controlador backstepping para navios de superfície.

AUTOR(ES)

Alexis Zakartchouk Junior

DATA DE PUBLICAÇÃO

2010

RESUMO

Dynamic Positioning Systems (DPS) are control systems used to maintain the vessel on a desired position or pre-defined path exclusively by means of active thrusters. A DPS can be separated into a set of dedicated modules with designated tasks. The most significant modules are the position and heading measurement systems, the state estimator, the controller and the thrust allocation algorithm. Nowadays, the Extended Kalman Filter (EKF) is the standard state estimator for all commercial DPS. However, the EKF technique presents several drawbacks. There is a large number of tuning parameters which requires a time-consuming tuning procedure. Global asymptotic stability cannot be assured to the system. Furthermore, it requires the use of a gain-scheduling technique, since the model is linearized about approximately 36 yaw angles due to the kinematics equations of motions. To solve these problems, this study proposes the development of a fully nonlinear DPS comprising a passive nonlinear observer and a nonlinear backstepping controller.

ASSUNTO(S)

backstepping dynamic positioning nonlinear observer posicionamento dinâmico observador não-linear backstepping

Documentos Relacionados

• Implementação prática de um controlador preditivo a um processo não-linear
• Metodologia para a geração de modelos dinâmicos para o controlador preditivo não-linear LLT
• Nonlinear dynamics of nonideal rotor
• Equalização não-linear de canais de comunicação.
• MESEGHI: A HYBRID SEGMENTATION METHOD FOR LINEAR AND NON-LINEAR IMAGE ANALYSIS