Adatpive LQR control system for the nonlinear 4-DoF model of a container vessel

Author

Brasel, Michal

Author_Institution

Fac. of Electr. Eng., West Pomeranian Univ. of Technol., Szczecin, Poland

fYear

2013

fDate

26-29 Aug. 2013

Firstpage

711

Lastpage

716

Abstract

In the paper an adaptive Linear-Quadratic (LQR) control system for Multi-Input, Multi-Output (MIMO) nonlinear dynamic plants is presented. A nonlinear four-Degrees-of-Freedom (4-DoF) mathematical model of a singlescrew, high-speed container vessel is used as a MIMO plant. The main task of the proposed system is control the course angle and forward speed of the ship according to the changing hydrodynamic operating conditions. Due to the strongly nonlinear nature of the equations of the ship motions adaptive LQR controller is tuned according to the current operating point of the ship. The system synthesis is carried out by linearization of the nonlinear model of the ship at its nominal operating points in the steady-state. The final part of the paper includes results of simulation tests of the proposed control system carried out in the MATLAB/Simulink environment.

Keywords

MIMO systems; adaptive control; hydrodynamics; linear quadratic control; mathematics computing; nonlinear control systems; ships; MIMO nonlinear dynamic plants; Matlab; Simulink; adaptive LQR control system; four-degrees-of-freedom; high-speed container vessel; hydrodynamic operating conditions; linear-quadratic control system; multi-input multi-output nonlinear dynamic plants; nonlinear 4-DoF model; ship; Adaptation models; Containers; Control systems; MIMO; Marine vehicles; Mathematical model; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4673-5506-3

Type

conf

DOI

10.1109/MMAR.2013.6669999

Filename

6669999