A control system is proposed for the regulation problem of the roll-motion of a manned sea-surface vehicle. Taking into account the roll-ship equations coming from the Conolly theory, a novel stochastic model has been proposed for the uncertainties driving the total mechanical torque acting on the vehicle, deriving from the wind and/or the sea-wave action. The proposed model results in a bilinear stochastic system to which a feedback controller is applied, giving linear-optimal performance with respect to a classical quadratic index. Open loop simulations carried out on real data validate the choice of the stochastic model of the uncertainties, producing a ship-roll time evolution which resembles the real data. Closed loop simulations on a virtual ship show the effectiveness of the proposed control scheme.
Carravetta, F., Felici, G., Palumbo, P. (2008). Regulation of a manned sea-surface vehicle via stochastic optimal control. In Proc. 17th IFAC World Congress on Automatic Control (IFAC2008) (pp.9008-9013) [10.3182/20080706-5-KR-1001.3291].
Regulation of a manned sea-surface vehicle via stochastic optimal control
Palumbo, P
2008
Abstract
A control system is proposed for the regulation problem of the roll-motion of a manned sea-surface vehicle. Taking into account the roll-ship equations coming from the Conolly theory, a novel stochastic model has been proposed for the uncertainties driving the total mechanical torque acting on the vehicle, deriving from the wind and/or the sea-wave action. The proposed model results in a bilinear stochastic system to which a feedback controller is applied, giving linear-optimal performance with respect to a classical quadratic index. Open loop simulations carried out on real data validate the choice of the stochastic model of the uncertainties, producing a ship-roll time evolution which resembles the real data. Closed loop simulations on a virtual ship show the effectiveness of the proposed control scheme.File | Dimensione | Formato | |
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2008-07 IFAC-Seoul - Optimal control for continuous systems via a Carleman approximation approach - Speaker.pdf
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