Disturbance Estimation for Feedforward Control of Inland Vessels

The methods presented in this paper were designed to improve the performance of a control scheme for the automatic track-keeping of inland vessels. The performance of this control scheme heavily depends on the underlying models as it employs model inversion for the calculation of feedforward input s...

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Published inIFAC Proceedings Volumes Vol. 43; no. 20; pp. 213 - 218
Main Authors Herzer, B., Gilles, E.D.
Format Journal Article
LanguageEnglish
Published 01.09.2010
Subjects
disturbance estimation
feedforward control
model inversion
track-keeping
model inversion
disturbance estimation
track-keeping
feedforward control
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ISSN1474-6670
DOI10.3182/20100915-3-DE-3008.00041

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Abstract The methods presented in this paper were designed to improve the performance of a control scheme for the automatic track-keeping of inland vessels. The performance of this control scheme heavily depends on the underlying models as it employs model inversion for the calculation of feedforward input signals and reference trajectories for feedback control. However, vessels on rivers are subject to model uncertainties as well as disturbances, such as cross currents or wind. Therefore, an estimation scheme was designed for the estimation of disturbances and their integration into the model inversion procedure. Simulation results show the usefulness of the presented methods for various disturbances and model uncertainties.
AbstractList The methods presented in this paper were designed to improve the performance of a control scheme for the automatic track-keeping of inland vessels. The performance of this control scheme heavily depends on the underlying models as it employs model inversion for the calculation of feedforward input signals and reference trajectories for feedback control. However, vessels on rivers are subject to model uncertainties as well as disturbances, such as cross currents or wind. Therefore, an estimation scheme was designed for the estimation of disturbances and their integration into the model inversion procedure. Simulation results show the usefulness of the presented methods for various disturbances and model uncertainties.
Author Herzer, B.
Gilles, E.D.
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  organization: Max Planck Institute for Dynamics of Complex Technical Systems, Magdeburg, 39106 Germany
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Keywords model inversion
disturbance estimation
track-keeping
feedforward control
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References Fossen (bib1) 2002
Pannocchia, Rawlings (bib3) 2003; 49
Bolk (bib4) 2004
Bittner, Driescher, Gilles (bib2) May 2003
Do (bib5) 2010
Bittner (10.3182/20100915-3-DE-3008.00041_bib2) 2003
Bolk (10.3182/20100915-3-DE-3008.00041_bib4) 2004
Pannocchia (10.3182/20100915-3-DE-3008.00041_bib3) 2003; 49
Do (10.3182/20100915-3-DE-3008.00041_bib5) 2010
Fossen (10.3182/20100915-3-DE-3008.00041_bib1) 2002
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  year: May 2003
  end-page: 227
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  publication-title: 10th Saint Petersburg International Conference on Integrated Navigation Systems
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  article-title: Disturbance models for offset-free model predictive control
  publication-title: AIChE J
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– year: 2004
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– start-page: 218
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  ident: 10.3182/20100915-3-DE-3008.00041_bib2
  article-title: Drift dynamics modeling for automatic track-keeping of inland vessels
– year: 2010
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  article-title: Disturbance models for offset-free model predictive control
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Snippet The methods presented in this paper were designed to improve the performance of a control scheme for the automatic track-keeping of inland vessels. The...
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SubjectTerms disturbance estimation
feedforward control
model inversion
track-keeping
Title Disturbance Estimation for Feedforward Control of Inland Vessels
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