Dynamic positioning systems: An experimental analysis of sliding mode control

Vessel dynamic positioning (DP) systems are based on conventional PID-type controllers and an extended Kalman filter. However, they present a difficult tuning procedure, and the closed-loop performance varies with environmental or loading conditions since the dynamics of the vessel are eminently non...

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Bibliographic Details
Published in:Control engineering practice 2010-10, Vol.18 (10), p.1121-1132
Main Authors: Tannuri, E.A., Agostinho, A.C., Morishita, H.M., Moratelli, L.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system analysis
Control system synthesis
Control theory. Systems
Controllers
Dynamical systems
Dynamics
Exact sciences and technology
Ground, air and sea transportation, marine construction
Marine and water way transportation and traffic
Marine systems
Nonlinear control
Nonlinear dynamics
Nonlinearity
PID controllers
Robust control
Sliding mode control
Tuning
Vessels
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Summary:Vessel dynamic positioning (DP) systems are based on conventional PID-type controllers and an extended Kalman filter. However, they present a difficult tuning procedure, and the closed-loop performance varies with environmental or loading conditions since the dynamics of the vessel are eminently nonlinear. Gain scheduling is normally used to address the nonlinearity of the system. To overcome these problems, a sliding mode control was evaluated. This controller is robust to variations in environmental and loading conditions, it maintains performance and stability for a large range of conditions, and presents an easy tuning methodology. The performance of the controller was evaluated numerically and experimentally in order to address its effectiveness. The results are compared with those obtained from conventional PID controller.
ISSN:0967-0661
1873-6939
DOI:10.1016/j.conengprac.2010.06.007