A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints
Chapter, Peer reviewed
Accepted version
Permanent lenke
http://hdl.handle.net/11250/2479040Utgivelsesdato
2017Metadata
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Originalversjon
10.1109/CCTA.2017.8062483Sammendrag
Satisfying actuator constraints is often not considered in the academic literature on the design of ship heading and speed controllers. This paper considers the use of a simplified dynamic window algorithm as a way to ensure that actuator constraints are satisfied. To accomplish this, we use the simplified dynamic window algorithm as a dynamic window-based controller (DWC) to guarantee that the velocities remain within a set of feasible boundaries, while simultaneously respecting the actuator constraints. We also develop a modified nonlinear ship model on which to test the proposed concept. The DWC is compared with a more traditional ship heading and speed controller, using performance metrics which consider both control accuracy and energy use.