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A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints

Sørensen, Mikkel Nørgaard; Lyngstadaas, Ole Nikolai; Eriksen, Bjørn-Olav Holtung; Breivik, Morten
Journal article
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URI
http://hdl.handle.net/11250/2595596
Date
2018
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  • Institutt for teknisk kybernetikk [4103]
  • Publikasjoner fra CRIStin - NTNU [41955]
Original version
10.1016/j.ifacol.2018.09.483
Abstract
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.
Publisher
International Federation of Automatic Control (IFAC)
Journal
IFAC-PapersOnLine

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