A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints. Issue 29 (2018)

• Record Type: Journal Article
• Authors: Nørgaard Sørensen, Mikkel Eske; Lyngstadaas, Ole Nikolai; Eriksen, Bjørn-Olav H.; Breivik, Morten
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 29(2018)
• Page Start: 140
• Page End: 146
• Publication Date: 2018
• Subjects: Dynamic positioning -- Dynamic window -- Actuator magnitude constraints; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.09.483
• Languages: English
• ISSNs: 2405-8963

Abstract

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.