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.
Motion Control Systems
2021-06-01
56 pages
Article/Chapter (Book)
Electronic Resource
English
Tema Archive | 2002
|Wiley | 2011
|Advanced Motion Control Systems
Wiley | 2021
|Advanced Motion Control Systems
Wiley | 2011
|