Artículos de revistas
Dynamic positioning systems: An experimental analysis of sliding mode control
Fecha
2010Registro en:
CONTROL ENGINEERING PRACTICE, v.18, n.10, p.1121-1132, 2010
0967-0661
10.1016/j.conengprac.2010.06.007
Autor
TANNURI, E. A.
AGOSTINHO, A. C.
MORISHITA, H. M.
MORATELLI JR., L.
Institución
Resumen
Vessel dynamic positioning (DP) systems are based on conventional PID-type controllers and an extended Kalman filter. However, they present a difficult tuning procedure, and the closed-loop performance varies with environmental or loading conditions since the dynamics of the vessel are eminently nonlinear. Gain scheduling is normally used to address the nonlinearity of the system. To overcome these problems, a sliding mode control was evaluated. This controller is robust to variations in environmental and loading conditions, it maintains performance and stability for a large range of conditions, and presents an easy tuning methodology. The performance of the controller was evaluated numerically and experimentally in order to address its effectiveness. The results are compared with those obtained from conventional PID controller. (c) 2010 Elsevier Ltd. All rights reserved.
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