A Robust Dynamic Positioning Tracking Control Law Mitigating Integral WindupResearch partly funded by the Research Council of Norway project no. 203471: CRI SAMCoT, and project no. 223254: CoE AMOS

This paper deals with the design of a tracking control law for dynamic positioning of marine vessels subject to disturbances. It shows that the integral windup problem can be mitigated by removing the position setpoint in the proportional error term and injecting the velocity setpoint in the integra...

Full description

Saved in:
Bibliographic Details
Published inIFAC-PapersOnLine Vol. 49; no. 23; pp. 239 - 244
Main Authors Kjerstad, Øivind K., Værnø, Svenn Are T., Skjetne, Roger
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 2016
Subjects
Dynamic positioning
Integral windup
Nonlinear control design
Setpoint tracking
Dynamic positioning
Integral windup
Setpoint tracking
Nonlinear control design
Online AccessGet full text
ISSN2405-8963
2405-8971
2405-8963
DOI10.1016/j.ifacol.2016.10.349

Cover

More Information
Summary:This paper deals with the design of a tracking control law for dynamic positioning of marine vessels subject to disturbances. It shows that the integral windup problem can be mitigated by removing the position setpoint in the proportional error term and injecting the velocity setpoint in the integral state. This creates an internal reference point in the control law for the vessel to follow. Control of the transient convergence trajectories is achieved without compromising stability by constraining the internal convergence velocity. The proposed control law provides the same functionality as a conventional tracking control law in combination with a reference filter, but with lower complexity and fewer tuning parameters. A closed-loop simulation case study verifies the theoretical findings and show feasible and robust performance.
ISSN:2405-8963
2405-8971
2405-8963
DOI:10.1016/j.ifacol.2016.10.349