Linear active disturbance rejection control of the hovercraft vessel model

Morales, R. and Sira-Ramírez, H. and Somolinos Sánchez, José Andrés (2015). Linear active disturbance rejection control of the hovercraft vessel model. "Ocean Engineering", v. 96 ; pp. 100-108. ISSN 0029-8018. https://doi.org/10.1016/j.oceaneng.2014.12.031.

Description

Title: Linear active disturbance rejection control of the hovercraft vessel model
Author/s:
  • Morales, R.
  • Sira-Ramírez, H.
  • Somolinos Sánchez, José Andrés
Item Type: Article
Título de Revista/Publicación: Ocean Engineering
Date: March 2015
Volume: 96
Subjects:
Freetext Keywords: Flat systems, GPI control, Observer design, Trajectory planning, Disturbance estimation
Faculty: E.T.S.I. Navales (UPM)
Department: Arquitectura, Construcción y Sistemas Oceánicos y Navales (Dacson)
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

A linearizing robust dynamic output feedback control scheme is proposed for earth coordinate position variables trajectory tracking tasks in a hovercraft vessel model. The controller design is carried out using only position and orientation measurements. A highly simplified model obtained from flatness considerations is proposed which vastly simplifies the controller design task. Only the order of integration of the input-to-flat output subsystems, along with the associated input matrix gain, is retained in the simplified model. All the unknown additive nonlinearities and exogenous perturbations are lumped into an absolutely bounded, unstructured, vector of time signals whose components may be locally on-line estimated by means of a high gain Generalized Proportional Integral (GPI) observer. GPI observers are the dual counterpart of GPI controllers providing accurate simultaneous estimation of each flat output associated phase variables and of the exogenous and endogenous perturbation inputs. These observers exhibit remarkably convenient self-updating internal models of the unknown disturbance input vector components. These two key pieces of on-line information are used in the proposed feedback controller to conform an active disturbance rejection, or disturbance accommodation, control scheme. Simulation results validate the effectiveness of the proposed design method.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2014-53499RUnspecifiedUniversidad Politécnica de MadridControl de operaciones de dispositivos marinos de aprovechamiento de la energía hidrocinetica

More information

Item ID: 41361
DC Identifier: http://oa.upm.es/41361/
OAI Identifier: oai:oa.upm.es:41361
DOI: 10.1016/j.oceaneng.2014.12.031
Official URL: http://www.sciencedirect.com/science/article/pii/S0029801814004880?via%3Dihub
Deposited by: Memoria Investigacion
Deposited on: 30 Jun 2017 07:30
Last Modified: 30 Jun 2017 07:34
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