Robust anti-windup control for marine cyber-physical systems

In this paper the robust output control with anti-windup compensation and its implementation to the robotic boat are addressed. The detailed control design and stability analysis of the closed-loop systems are provided in the work. Extensive experimental verification of the dynamic positioning syste...

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Veröffentlicht in:	MATEC web of conferences 2018-01, Vol.161, p.3025
Hauptverfasser:	Kakanov, Mikhail, Kaliuzhny, Mikhail, Borisov, Oleg, Gromov, Vladislav, Vlasov, Sergey, Somov, Sergey, Pyrkin, Anton
Format:	Artikel
Sprache:	eng
Schlagworte:	Anti-windup Control stability Cyber-physical systems Robust control Stability analysis
Online-Zugang:	Volltext
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Beschreibung
Zusammenfassung:	In this paper the robust output control with anti-windup compensation and its implementation to the robotic boat are addressed. The detailed control design and stability analysis of the closed-loop systems are provided in the work. Extensive experimental verification of the dynamic positioning system based on various modifications of the basic controller is carried out by means of robotic boat. The corresponding experimental results are presented and analysed.
ISSN:	2261-236X 2274-7214 2261-236X
DOI:	10.1051/matecconf/201816103025