Double Closed-loop Control with Input Saturation for DP Vessels based on Disturbance Observer

Wu, Baoqi; Zhao, Tao

doi:10.1109/icmcce51767.2020.00143

2020 5th International Conference on Mechanical, Control and Computer Engineering (ICMCCE) 2020

DOI: 10.1109/icmcce51767.2020.00143

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Double Closed-loop Control with Input Saturation for DP Vessels based on Disturbance Observer

Baoqi Wu

Tao Zhao

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2021

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LQG Control for Dynamic Positioning of Floating Caissons Based on the Kalman Filter

Sainz

Herrero

Llata

et al. 2021

Sensors

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This paper presents the application of an linear quadratic gaussian (LQG) control strategy for concrete caisson deployment for marine structures. Currently these maneuvers are carried out manually with the risk that this entails. Control systems for these operations with classical regulators have begun to be implemented. They try to reduce risks, but they still need to be optimized due to the complexity of the dynamics involved during the sinking process and the contact with the sea bed. A linear approximation of the dynamic model of the caisson is obtained and an LQG control strategy is implemented based on the Kalman filter (KF). The results of the proposed LQG control strategy are compared to the ones given by a classic controller. It is noted that the proposed system is positioned with greater precision and accuracy, as shown in the different simulations and in the Monte Carlo study. Furthermore, the control efforts are less than with classical regulators. For all the reasons cited above, it is concluded that there is a clear improvement in performance with the control system proposed.

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LQG Control for Dynamic Positioning of Floating Caissons Based on the Kalman Filter

Sainz

Herrero

Llata

et al. 2021

Sensors

View full text Add to dashboard Cite

show abstract

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Double Closed-loop Control with Input Saturation for DP Vessels based on Disturbance Observer

Cited by 1 publication

References 7 publications

LQG Control for Dynamic Positioning of Floating Caissons Based on the Kalman Filter

LQG Control for Dynamic Positioning of Floating Caissons Based on the Kalman Filter

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