Comparison of Advanced Control Strategies for Automated Docking

In this paper, a systematic comparison of three different advanced control strategies for automated docking of a vessel is presented. The controllers are automatically tuned offline by applying an optimization process using simulations of the whole system including trajectory planner and state and d...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IFAC-PapersOnLine 2021, Vol.54 (16), p.295-300
Hauptverfasser: Wirtensohn, Stefan, Hamburger, Oliver, Homburger, Hannes, Kinjo, Leticia Mayumi, Reuter, Johannes
Format: Artikel
Sprache:eng
Schlagworte:
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:In this paper, a systematic comparison of three different advanced control strategies for automated docking of a vessel is presented. The controllers are automatically tuned offline by applying an optimization process using simulations of the whole system including trajectory planner and state and disturbance observer. Then investigations are conducted subject to performance and robustness using Monte Carlos simulation with varying model parameters and disturbances. The control strategies have also been tested in full scale experiments using the solar research vessel Solgenia. The investigated control strategies all have demonstrated very good performance in both, simulation and real world experiments. Videos are available under https://www.htwg-konstanz.de/forschung-und-transfer/institute-und-labore/isd/regelungstechnik/videos/
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2021.10.107