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A passive output feedback controller with wave filter for marine vehicles
Author(s) -
Paulsen Marit J.,
Egeland Olav,
Fossen Thor I.
Publication year - 1998
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(19981230)8:15<1239::aid-rnc379>3.0.co;2-7
Subject(s) - control theory (sociology) , controller (irrigation) , filter (signal processing) , position (finance) , exponential stability , band stop filter , lyapunov function , nonlinear system , stability (learning theory) , lyapunov stability , dynamic positioning , engineering , control engineering , computer science , control (management) , low pass filter , physics , marine engineering , electrical engineering , finance , quantum mechanics , artificial intelligence , machine learning , agronomy , economics , biology
An output feedback controller with a wave filter for regulation of nonlinear marine vehicles is derived. Only measurements of position and attitude are needed. Asymptotic stability for the position and attitude around the desired values, and the velocity about zero is proven by applying Lyapunov stability analysis. Even though the wave filter in this paper has a notch filter structure, it is incorporated in the controller such that the system from the vehicle's velocity to the control input is passive. This is opposed to conventional notch filters which are usually designed separately from the controller itself, possibly complicating the stability analysis. Finally, a simulation study of a ship illustrates the design procedure of the controller. © 1998 John Wiley & Sons, Ltd.