This chapter presents state‐of‐the‐art proportional‐integral‐derivative (PID) control and successive loop closure methods for setpoint regulation, trajectory tracking and path‐following control of marine craft. This includes autopilot design, stationkeeping, position mooring systems, cross‐tracking control systems and line‐of‐sight path‐following control systems. For marine craft it is common to distinguish between three types of stability, namely: straight‐line stability, directional or course stability, and positional motion stability. The chapter provides successive loop closure designs for marine craft with emphasis placed on: heading autopilot design, path‐following control, and depth autopilot design. The basic idea behind successive loop closure is to close several simple feedback loops in succession around the open‐loop plant dynamics rather than designing a single control system. The chapter discusses nonlinear PID control for SISO and MIMO systems using pole‐placement algorithms. Lyapunov stability analyses for optimal shaping of the kinetic and potential energies of a marine craft are the main tool to derive the pole‐placement algorithms.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Motion Control Systems


    Beteiligte:
    Fossen, Thor I (Autor:in)


    Erscheinungsdatum :

    2021-06-01


    Format / Umfang :

    56 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Motion Control Systems

    Schubach, R. | Tema Archiv | 2002


    Motion control systems

    CARTER TROY A | Europäisches Patentamt | 2023

    Freier Zugriff

    Motion Control Systems

    Fossen, Thor I. | Wiley | 2011


    Advanced Motion Control Systems

    Fossen, Thor I | Wiley | 2021


    Advanced Motion Control Systems

    Fossen, Thor I. | Wiley | 2011