Linear adaptive structure for control of a nonlinear MIMO dynamic plant

Stanisław Bańka; Paweł Dworak; Krzysztof Jaroszewski

International Journal of Applied Mathematics and Computer Science (2013)

  • Volume: 23, Issue: 1, page 47-63
  • ISSN: 1641-876X

Abstract

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In the paper an adaptive linear control system structure with modal controllers for a MIMO nonlinear dynamic process is presented and various methods for synthesis of those controllers are analyzed. The problems under study are exemplified by the synthesis of a position and yaw angle control system for a drillship described by a 3DOF nonlinear mathematical model of low-frequency motions made by the drillship over the drilling point. In the proposed control system, use is made of a set of (stable) linear modal controllers that create a linear adaptive controller with variable parameters tuned appropriately to operation conditions chosen on the basis of two measured auxiliary signals. These are the ship's current forward speed measured in reference to the water and the systematically calculated difference between the course angle and the sea current (yaw angle). The system synthesis is carried out by means of four different methods for system pole placement after having linearized the model of low-frequency motions made by the vessel at its nominal “operating points” in steady states that are dependent on the specified yaw angle and the sea current velocity. The final part of the paper includes simulation results of system operation with an adaptive controller of (stepwise) varying parameters along with conclusions and final remarks.

How to cite

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Stanisław Bańka, Paweł Dworak, and Krzysztof Jaroszewski. "Linear adaptive structure for control of a nonlinear MIMO dynamic plant." International Journal of Applied Mathematics and Computer Science 23.1 (2013): 47-63. <http://eudml.org/doc/251341>.

@article{StanisławBańka2013,
abstract = {In the paper an adaptive linear control system structure with modal controllers for a MIMO nonlinear dynamic process is presented and various methods for synthesis of those controllers are analyzed. The problems under study are exemplified by the synthesis of a position and yaw angle control system for a drillship described by a 3DOF nonlinear mathematical model of low-frequency motions made by the drillship over the drilling point. In the proposed control system, use is made of a set of (stable) linear modal controllers that create a linear adaptive controller with variable parameters tuned appropriately to operation conditions chosen on the basis of two measured auxiliary signals. These are the ship's current forward speed measured in reference to the water and the systematically calculated difference between the course angle and the sea current (yaw angle). The system synthesis is carried out by means of four different methods for system pole placement after having linearized the model of low-frequency motions made by the vessel at its nominal “operating points” in steady states that are dependent on the specified yaw angle and the sea current velocity. The final part of the paper includes simulation results of system operation with an adaptive controller of (stepwise) varying parameters along with conclusions and final remarks.},
author = {Stanisław Bańka, Paweł Dworak, Krzysztof Jaroszewski},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {MIMO multivariable control systems; nonlinear systems; modal control},
language = {eng},
number = {1},
pages = {47-63},
title = {Linear adaptive structure for control of a nonlinear MIMO dynamic plant},
url = {http://eudml.org/doc/251341},
volume = {23},
year = {2013},
}

TY - JOUR
AU - Stanisław Bańka
AU - Paweł Dworak
AU - Krzysztof Jaroszewski
TI - Linear adaptive structure for control of a nonlinear MIMO dynamic plant
JO - International Journal of Applied Mathematics and Computer Science
PY - 2013
VL - 23
IS - 1
SP - 47
EP - 63
AB - In the paper an adaptive linear control system structure with modal controllers for a MIMO nonlinear dynamic process is presented and various methods for synthesis of those controllers are analyzed. The problems under study are exemplified by the synthesis of a position and yaw angle control system for a drillship described by a 3DOF nonlinear mathematical model of low-frequency motions made by the drillship over the drilling point. In the proposed control system, use is made of a set of (stable) linear modal controllers that create a linear adaptive controller with variable parameters tuned appropriately to operation conditions chosen on the basis of two measured auxiliary signals. These are the ship's current forward speed measured in reference to the water and the systematically calculated difference between the course angle and the sea current (yaw angle). The system synthesis is carried out by means of four different methods for system pole placement after having linearized the model of low-frequency motions made by the vessel at its nominal “operating points” in steady states that are dependent on the specified yaw angle and the sea current velocity. The final part of the paper includes simulation results of system operation with an adaptive controller of (stepwise) varying parameters along with conclusions and final remarks.
LA - eng
KW - MIMO multivariable control systems; nonlinear systems; modal control
UR - http://eudml.org/doc/251341
ER -

References

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Citations in EuDML Documents

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  1. Jarosław Smoczek, Evolutionary optimization of interval mathematics-based design of a TSK fuzzy controller for anti-sway crane control
  2. Antonio Yarza, Victor Santibanez, Javier Moreno-Valenzuela, An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation
  3. Stanisław Bańka, Michał Brasel, Paweł Dworak, Krzysztof Jaroszewski, A comparative and experimental study on gradient and genetic optimization algorithms for parameter identification of linear MIMO models of a drilling vessel
  4. Stanisław Bańka, Paweł Dworak, Krzysztof Jaroszewski, Design of a multivariable neural controller for control of a nonlinear MIMO plant

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