Nonlinear passive weather optimal positioning control (WOPC) system for ships and rigs: experimental results

Fossen, Thor I.; Strand, Jann Peter

doi:10.1016/s0005-1098(01)00006-1

Cited by 91 publications

(25 citation statements)

References 6 publications

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“…Even though the angle and magnitude of the water current velocity vector is unknown, the boat will still converge to a heading pointing into this vector and "hover" at the specified station keeping point. Previous weathervaning techniques are described in [5].…”

Section: Initial Segment Acquisitionmentioning

confidence: 99%

Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran

Elkaim

Kelbley

2006

Proceedings of the 45th IEEE Conference on Decision and Control

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Abstract-Precision guidance and control of an autonomous, wind-propelled catamaran has been demonstrated by the Atlantis, a modified Prindle-19 catamaran, to be experimentally capable of tracking straight line segments to better than 0.3 meters (1 − σ). This paper extends Atlantis's guidance and navigation system to provide precision control while traversing a series of way-points and adds station keeping functionality, that is the ability for Atlantis to maintain her position at a given way-point in the presence of unknown water currents while motor powered. To achieve this, segmented trajectories are developed using the specified way-points forming line segments and arcs as path primitives. If a segment is unreachable directly due to the wind direction, a real-time tacking control mode is enabled and the Atlantis tacks within a given lane width until its destination is reached. For simulation a nonlinear model of the Atlantis was developed that includes realistic wind and water current models. Monte Carlo simulations of this new guidance and control system on the nonlinear model demonstrates the Atlantis is capable of maintaining a cross-track error of less than one meter throughout the path.

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Section: Initial Segment Acquisitionmentioning

confidence: 99%

Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran

Elkaim

Kelbley

2006

Proceedings of the 45th IEEE Conference on Decision and Control

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“…Surge control can be performed using e.g. (Fossen and Strand, 2001;Pettersen and Fossen, 2000), and it is not be considered further in this paper.…”

Section: Towards Station Keepingmentioning

confidence: 99%

“…Pettersen and Fossen (2000); Fossen and Strand (2001); Blanke (2005); Pereira et al (2008)), but it still is an open and interesting control problem. Fossen and Strand (2001) proposed the weather optimal heading control, where the marine craft is steered to be on a virtual circle headed towards the centre. A set of model parameters were at hand for the considered vessel and a PD regulator was designed using the backstepping design methodology with the inclusion of integral action.…”

Section: Introductionmentioning

confidence: 99%

Unmanned Water Craft Identification and Adaptive Control in Low-Speed and Reversing Regions

Theisen

Galeazzi

Blanke

2013

IFAC Proceedings Volumes

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This paper treats L 1 adaptive hovering control of an unmanned surface vehicle in a station-keeping mode where a region of zero control authority and under-actuation are main challenges. Low-speed and reversing dynamics are identified from full scale sea trials, and parameter uncertainty is estimated. With significant parameter variation, an L 1 adaptive controller is employed for heading control. The L 1 family of controllers allows for several topologies and an architecture is suggested that suits heading control of a vessel, the requirements of which differ from that of previous L 1 literature. The control design is tackled directly in discrete time to allow a fast embedded implementation in the vehicle. Analysis of robustness, tracking performance and wave disturbance response are detailed in the paper.

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“…Our work follows the nonlinear control approach [6] designed for weather optimal positioning control. The system relies upon estimating a disturbance force and then using it for weather-vaning the vehicle into position.…”

Section: A Related Workmentioning

confidence: 99%

“…The system relies upon estimating a disturbance force and then using it for weather-vaning the vehicle into position. The control law proposed in [6] is designed for vehicles with multiple thrusters and the capability of simultaneously generating thrusts in the sway direction.…”

Section: A Related Workmentioning

confidence: 99%

An experimental study of station keeping on an underactuated ASV

Pereira

Das²,

Sukhatme

2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Dynamic positioning is an important application for marine vehicles that do not have the luxury of anchoring or mooring themselves. Such vehicles are usually large and have arrays of thrusters that allow for controllability in the sway as well as the surge and yaw axes. Most smaller boats however, are underactuated and do not possess control in the sway direction. This makes the control problem significantly more challenging. We address the station keeping problem for a small autonomous surface vehicle (ASV) with significant windage. The vehicle is required to hold station at a given position. We describe the design of a weighted controller that uses wind feed-forward to complement a Line-Of-Sight guidance controller to achieve satisfactory performance under slow-varying moderate wind conditions. We test the control system in simulation and in field trials with a twin-propeller ASV. Experiments show that the controller works very well in moderate wind conditions allowing the ASV to keep station with a position error of approximately one vehicle length.

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Nonlinear passive weather optimal positioning control (WOPC) system for ships and rigs: experimental results

Cited by 91 publications

References 6 publications

Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran

Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran

Unmanned Water Craft Identification and Adaptive Control in Low-Speed and Reversing Regions

An experimental study of station keeping on an underactuated ASV

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