dc.contributor.author | Sørensen, Mikkel Eske Nørgaard | |
dc.contributor.author | Breivik, Morten | |
dc.date.accessioned | 2017-10-26T10:45:57Z | |
dc.date.available | 2017-10-26T10:45:57Z | |
dc.date.created | 2016-08-02T11:12:16Z | |
dc.date.issued | 2016 | |
dc.identifier.citation | IFAC-PapersOnLine. 2016, 49 (23), 303-310. | nb_NO |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | http://hdl.handle.net/11250/2462330 | |
dc.description.abstract | Nonlinear control algorithms are often designed with linear feedback terms. Such linear feedback typically gives rise to nice exponential stability properties, but are not physically realistic since all actuators have magnitude constraints. One way to address such constraints can be to introduce nonlinear feedback terms. Hence, this paper investigates combinations of linear and nonlinear feedback terms for pose and velocity control of marine surface vessels. Three cascaded controllers are developed and compared through three simulation scenarios and one model-scale experiment. The comparisons are made using performance metrics which consider both control accuracy and energy use. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Elsevier | nb_NO |
dc.relation.uri | http://www.sciencedirect.com/science/article/pii/S2405896316319462 | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Comparing Combinations of Linear and Nonlinear Feedback Terms for Motion Control of Marine Surface Vessels | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 303-310 | nb_NO |
dc.source.volume | 49 | nb_NO |
dc.source.journal | IFAC-PapersOnLine | nb_NO |
dc.source.issue | 23 | nb_NO |
dc.identifier.doi | 10.1016/j.ifacol.2016.10.359 | |
dc.identifier.cristin | 1370064 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2016. This is the authors’ accepted and refereed manuscript to the article. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/ | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |