dc.contributor.author | Sørensen, Mikkel Nørgaard | |
dc.contributor.author | Lyngstadaas, Ole Nikolai | |
dc.contributor.author | Eriksen, Bjørn-Olav Holtung | |
dc.contributor.author | Breivik, Morten | |
dc.date.accessioned | 2019-04-26T07:28:18Z | |
dc.date.available | 2019-04-26T07:28:18Z | |
dc.date.created | 2019-01-17T10:50:14Z | |
dc.date.issued | 2018 | |
dc.identifier.uri | http://hdl.handle.net/11250/2595596 | |
dc.description.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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | International Federation of Automatic Control (IFAC) | nb_NO |
dc.relation.ispartof | 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018 Opatija, Croatia, 10–12 September 2018 | |
dc.relation.uri | https://www.sciencedirect.com/science/article/pii/S2405896318321724 | |
dc.title | A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints | nb_NO |
dc.type | Journal article | nb_NO |
dc.description.version | publishedVersion | nb_NO |
dc.source.pagenumber | 140-146 | nb_NO |
dc.source.volume | 51 | nb_NO |
dc.source.journal | IFAC-PapersOnLine | nb_NO |
dc.source.issue | 29 | nb_NO |
dc.identifier.doi | 10.1016/j.ifacol.2018.09.483 | |
dc.identifier.cristin | 1659034 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |