Displaying similar documents to “Nonlinear controller design of a ship autopilot”

On directional change and anti-windup compensation in multivariable control systems

Dariusz Horla (2009)

International Journal of Applied Mathematics and Computer Science

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The paper presents a novel description of the interplay between the windup phenomenon and directional change in controls for multivariable systems (including plants with an uneven number of inputs and outputs), usually omitted in the literature. The paper also proposes a new classification of anti-windup compensators with respect to the method of generating the constrained control signal.

Comparison of linear control methods for an AMB system

Wojciech Grega, Adam Pilat (2005)

International Journal of Applied Mathematics and Computer Science

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The contactless nature of active magnetic bearings brings about many advantages over the conventional bearing while industrial real-time applications are often limited by the significant complexity of control algorithms. This paper presents the application of an LQ controller to an active magnetic bearing system (AMB). Two control strategies are presented and compared: local and global. In the first case the rotor is modelled as two separated masses located at the bearing. In the second...

Designing a ship course controller by applying the adaptive backstepping method

Anna Witkowska, Roman Śmierzchalski (2012)

International Journal of Applied Mathematics and Computer Science

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The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control structure were tuned up by using the genetic algorithm in order to optimize the system performance....

An example of the knowledge based controller-design and evaluation.

Oto Tezak (1999)

Mathware and Soft Computing

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Knowledge based controller for a balance control model is presented in this paper. The design of the controller was based on the human control of the same process. Developed controller is tested by means of simulation and operation on the laboratory balance control model. The simulation results of the controller as well as a statistical description of the experiments with developed controller and human control is presented in the paper. Verification is based on experiments with an intelligent...

Control of an induction motor using sliding mode linearization

Erik Etien, Sébastien Cauet, Laurent Rambault, Gérard Champenois (2002)

International Journal of Applied Mathematics and Computer Science

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Nonlinear control of the squirrel induction motor is designed using sliding mode theory. The developed approach leads to the design of a sliding mode controller in order to linearize the behaviour of an induction motor. The second problem described in the paper is decoupling between two physical outputs: the rotor speed and the rotor flux modulus. The sliding mode tools allow us to separate the control from these two outputs. To take account of parametric variations, a model-based approach...

Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

Maciej Michałek, Piotr Dutkiewicz, Marcin Kiełczewski, Dariusz Pazderski (2009)

International Journal of Applied Mathematics and Computer Science

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The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip...

Reduced order controllers for Burgers' equation with a nonlinear observer

Jeanne Atwell, Jeffrey Borggaard, Belinda King (2001)

International Journal of Applied Mathematics and Computer Science

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A method for reducing controllers for systems described by partial differential equations (PDEs) is applied to Burgers' equation with periodic boundary conditions. This approach differs from the typical approach of reducing the model and then designing the controller, and has developed over the past several years into its current form. In earlier work it was shown that functional gains for the feedback control law served well as a dataset for reduced order basis generation via the proper...

Tracking control algorithms for a laboratory aerodynamical system

Przemysław Gorczyca, Krystyn Hajduk (2004)

International Journal of Applied Mathematics and Computer Science

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The tracking control problem of a strongly nonlinear MIMO system is presented. The system shares some features with a helicopter, such as important interactions between the vertical and horizontal motions. The dedicated IO board allows for control, measurements and communication with a PC. The RTWT toolbox in the MATLAB environment is used to perform real-time experiments. The control task is to track a predefined reference trajectory. A mathematical model of the system, containing experimental...