Published in: 6TH International Conference on Offshore Industries
COI code: OICIRAN06_037
Paper Language: English
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Authors Dynamic Position Control of Autonomous Supply VesselHassan Sayyaadi - Associate Professor, Sharif University of Technology/Department of Mechanical Engineering;
Abbas Ghasemzade Ahrami - Msc Student, Sharif University of Technology/Department of Mechanical Engineering;
Abstract:This paper is concerned with the design of a non-linear controller for autonomous supply vessel. An integrator back stepping and feedback linearization control laws are presented. Feedback linearization is easily applicable to ship, since this model basically is nonlinear system. Back stepping is a design methodology for construction of feedback control law through a recursive construction of a lyapunov function. When applying the back stepping design methodology, more design flexibility is obtained. Hence, additional robustness is obtained, which is important in industrial control systems since cancellation of all nonlinearities requires precise models that are difficult to obtain in practice. The controller's laws are developed by using Genetic Algorithm method to obtain the optimized gains. This approach avoids time consuming for assess controller gains by the try and error methods. Position controls of the vessel are guaranteed and the numerical results are provided appropriately. Simulation results are carried out by using MATLAB on the controllers' effects and circumstances
Keywords:Ship motion, Non-linear control, Feedback linearization, Back stepping, Surface vessel, Genetic Algorithm
COI code: OICIRAN06_037
how to cite to this paper:If you want to refer to this article in your research, you can easily use the following in the resources and references section:
Sayyaadi, Hassan & Abbas Ghasemzade Ahrami, 2015, Dynamic Position Control of Autonomous Supply Vessel, 6TH International Conference on Offshore Industries, تهران, انجمن مهندسي دريايي ايران, https://www.civilica.com/Paper-OICIRAN06-OICIRAN06_037.htmlInside the text, wherever referred to or an achievement of this article is mentioned, after mentioning the article, inside the parental, the following specifications are written.
First Time: (Sayyaadi, Hassan & Abbas Ghasemzade Ahrami, 2015)
Second and more: (Sayyaadi & Ghasemzade Ahrami, 2015)
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Type: state university
Paper No.: 12892
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