dc.contributor.author | Sørensen, Mikkel Eske Nørgaard | |
dc.contributor.author | Breivik, Morten | |
dc.contributor.author | Eriksen, Bjørn-Olav Holtung | |
dc.date.accessioned | 2018-01-23T11:58:16Z | |
dc.date.available | 2018-01-23T11:58:16Z | |
dc.date.created | 2018-01-20T17:36:54Z | |
dc.date.issued | 2017 | |
dc.identifier.isbn | 978-1-5090-2182-6 | |
dc.identifier.uri | http://hdl.handle.net/11250/2479040 | |
dc.description.abstract | 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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | 2017 IEEE Conference on Control Technology and Applications (CCTA) | |
dc.relation.uri | http://ieeexplore.ieee.org/document/8062483/ | |
dc.title | A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints | nb_NO |
dc.type | Chapter | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.identifier.doi | 10.1109/CCTA.2017.8062483 | |
dc.identifier.cristin | 1548375 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |