A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints
Journal article
Published version
Åpne
Permanent lenke
http://hdl.handle.net/11250/2595596Utgivelsesdato
2018Metadata
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Originalversjon
10.1016/j.ifacol.2018.09.483Sammendrag
This paper considers the use of a simplified dynamic window (DW) algorithm to handle actuator magnitude constraints for a 3 degrees-of-freedom dynamic positioning controller for ships. To accomplish this, we use the simplified DW algorithm to design a dynamic window-based controller (DWC) which guarantees that the velocities remain within a feasible set, while simultaneously respecting the actuator magnitude constraints. The DWC is compared with a benchmark motion controller which uses nonlinear position and velocity feedback terms. The comparison is made using performance metrics which consider both control accuracy and energy efficiency.