Nonlinear Robust Prediction Control of Hybrid Active–Passive Heave Compensator With Extended Disturbance Observer

To reduce the adverse effect of the unexpected vessel heave variation on the response of the underwater payloads, a hybrid active-passive heave compensation (HAHC) system with a nonlinear cascade controller is especially designed. An adaptive extended disturbance observer is constructed to estimate...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) 2017-08, Vol.64 (8), p.6684-6694
Hauptverfasser:	Li, Shizhen, Wei, Jianhua, Guo, Kai, Zhu, Wu-Le
Format:	Artikel
Sprache:	eng
Schlagworte:	Active control Actuators Adaptive systems Control systems design Cylinders Disturbance observers Dynamics Electrohydraulic servo systems Error compensation extended disturbance observer Feedback control Force heave prediction Heaving hybrid heave compensation nonlinear cascade control Nonlinear control Observers Parameter uncertainty Payloads Performance enhancement Prediction algorithms Response time Robust control Sliding mode control Time lag Tracking Uncertain systems
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