NONLINEAR ROBUST CONTROL SYSTEM FOR STABILIZATION OF MARINE VEHICLES
Journal Title: Електроніка та системи управління - Year 2018, Vol 3, Issue 57
Abstract
Nonlinear robust control system, that improves marine vehicle’s control process under condition of a marine vehicle’s and environment’s uncertainty, is considered in the article. Nonlinear robust system allows to keep a predetermined optimal stabilization trajectory of a nonlinear marine vehicle in the required vicinity by creating additional robust contour that enables to compensate different types of uncertainty. Optimal speed system based on variable structure is used to determine an optimal stabilization trajectory, taking into account given dimension of the marine vehicle’s model, required type of stabilization trajectories and constraints on control actions. Nonlinear robust system solves control tasks of nonlinear marine vehicles during maneuvering and dynamic positioning under condition of uncertainty.
Authors and Affiliations
Viktor Timchenko, Denis Lebedev
Keywords
Related Articles
- EP ID EP515841
- DOI 10.18372/1990-5548.57.13232
- Views 128
- Downloads 0
INTEGRATED MICROMECHANICAL GYROVERTICAL
The dubiousness of instantiation of the gyroverticales which based on micromechanical accelerometers and on micromechanical gyroscopic sensors is shown. Based on the analysis of the frequency characteristics of the err...
MULTIFUNCTIONAL RADIO MONITORING ANTENNA
The theoretical bases of the development of an antennas for monitoring system are presented. Antennas combine the functions of measuring the emissions parameters, directional finding and suppression of the interference w...
WIRELESS SOLAR POWER PLANT MONITORING SYSTEM
Monitoring systems are the most important part of modern solar power stations. Article contains the description of the existing monitoring systems, and their shortcomings are given. It is shown that as an alternative way...
COMBINATION OF HOUGH TRANSFORM AND CANNY EDGE DETECOR FOR IMPROVEMENT OF LINEAR OBECT DETECTION RESULTS
Hough transform together with Canny edge detector are proposed to use for road lines detection at different weather conditions at various places. Canny operator is used for edge detection on image, then Hough transformat...
COMPENSATION OF QUADRATURED ERROR IN THE AUTO-OSCILLATION MICROMECHANICAL GYROSCOPE
In this paper, attention was paid to the analysis of the micromechanical sensor unit of the inertial navigation system as the main component of an unmanned aerial vehicle, as well as to improve the technical characterist...