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Tracking control of an underactuated ship by modified dynamic inversion
1School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China.
ISA Transactions
|September 25, 2018
Summary
This study introduces three novel dynamic inversion control methods for underactuated ships, overcoming limitations of traditional approaches. These techniques enable precise tracking control for complex, underactuated systems.
Area of Science:
- * Marine engineering
- * Control systems theory
Background:
- * Traditional dynamic inversion control is ineffective for underactuated systems due to the lack of relative degree.
- * Underactuated ships present a significant challenge in tracking control.
Purpose of the Study:
- * To extend dynamic inversion control methods to underactuated systems.
- * To develop novel control strategies for underactuated ship tracking.
Main Methods:
- * Dynamic Extension-Based Dynamic Inversion (DEDI): Extends system dynamics by treating an input as a state.
- * Virtual Input-Based Dynamic Inversion (VIDI): Achieves relative degree by treating a state as a virtual input.
- * Output Redefinition-Based Dynamic Inversion (ORDI): Modifies the system's relative degree by selecting a new output.
Main Results:
- * Three generalized dynamic inversion methods (DEDI, VIDI, ORDI) were proposed.
- * These methods successfully address the relative degree issue in underactuated systems.
- * Numerical simulations confirmed the effectiveness of the proposed control strategies.
Conclusions:
- * The developed methods overcome limitations of standard dynamic inversion.
- * The generalized approaches enhance applicability to a broad range of underactuated systems.
- * This research provides effective solutions for underactuated ship tracking control.
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