文章基本信息

标题：A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints
本地全文：下载
作者：Mikkel Eske Nørgaard Sørensen ; Ole Nikolai Lyngstadaas ; Bjørn-Olav H. Eriksen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：29
页码：140-146
DOI：10.1016/j.ifacol.2018.09.483
语种：English
出版社：Elsevier
摘要：AbstractThis paper considers the use of a simplified dynamic window (DW) algorithm to handle actuator magnitude constraints for a 3 degrees-of-freedom dynamic positioning controller for ships. To accomplish this, we use the simplified DW algorithm to design a dynamic window-based controller (DWC) which guarantees that the velocities remain within a feasible set, while simultaneously respecting the actuator magnitude constraints. The DWC is compared with a benchmark motion controller which uses nonlinear position and velocity feedback terms. The comparison is made using performance metrics which consider both control accuracy and energy efficiency.
关键词：KeywordsDynamic positioningDynamic windowActuator magnitude constraints