This chapter presents more advanced methods for optimal and nonlinear control of marine craft. The main motivation for this is design simplicity and performance. Nonlinear control theory can often yield a more intuitive design than linear theory. Linearization destroys model properties and the results can be a more complicated design process with limited physical insight. The chapter discusses linear quadratic (LQ) optimal control theory with the focus on regulation, trajectory‐tracking control and disturbance feedforward. Optimal control deals with the problem of finding a control law for a given system such that a certain optimality criterion is achieved. Backstepping is a design methodology for construction of a feedback control law through a recursive construction of a control Lyapunov function. Nonlinear backstepping designs are strongly related to feedback linearization. A robust nonlinear design technique for marine craft is sliding‐mode control, which incorporates techniques to handle model uncertainty. control theory; linear feedback control systems; linearisation techniques; marine vehicles; motion control; object tracking
Advanced Motion Control Systems
2011-04-08
112 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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