“Passive output feedback and observer based autopilots: A comparative study”

Authors: Marit Paulsen and Olav Egeland,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1996, Vol 17, No 2, pp. 121-133.

Keywords: Comparative study, ship autopilots, passive controllers, observer based controllers, output feedback controllers

Abstract: Two methods for course-keeping of a ship are studied where no measurements of the yaw rate are available. The two methods are a passive output feedback controller and a controller-observer structure. A comparison with special attention to stability and wave filtering properties, is provided. Finally, a case study of a ship autopilot is included.

PDF PDF (1379 Kb)        DOI: 10.4173/mic.1996.2.5

References:
[1] BALCHEN, J.G., JENSEN, N.A. SÆLID, S. (1980). Dynamic positioning of floating vessels based on Kalman filtering and optimal control, In: Proceedings of the 19th IEEE Conference on Decision and Control. New York, USA. pp. 852-864.
[2] BALCHEN, J.G., JENSSEN, N.A. SÆLID, S. (1976). Dynamic positioning using Kalman filtering and optimal control theory, In: IFAC/IFIP Symp. on Automation in offshore Oil Field Operation. Amsterdam, Netherlands. pp. 183-186.
[3] DESOER, C.A. VIDYASAGAR, M., (1975). Feedback Systems: Input-Output Properties, Academic Press, New York, USA.
[4] FOSSEN, T.I. (1993). Autopilot design for nonlinear ship steering, In: Proceedings of the 10th International Ship Control Systems Symposium.SCSS´93. Ottawa, Canada. pp. 2.271-2.285.
[5] FOSSEN, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley and Sons Ltd, Chichester, England.
[6] GRIMBLE, M.J. (1978). Relationship between Kalman and notch filters used in dynamic ship positioning systems, Electronics Letters 1.13, pp. 399-400 doi:10.1049/el:19780269
[7] GRIMBLE, M.J., PATTON, R.J. WISE, D.A. (1980). The use of Kalman filtering techniques in dynamic ship positioning control systems using stochastic optimal control theory, Optim. Control Appl. Methods, No. 1, pp. 167-202.
[8] GRIMBLE, M.J., PATTON, R.J. WISE, D.A. (1980). Use of Kalman filtering techniques in dynamic ship positioning systems, In: IEE Proceedings, 127, D, No. 3. pp. 93-102.
[9] HILL, D.J. MOYLAN, P.J. (1977). Stability results for non-linear feedback systems, Automatica, 13, pp. 377-382 doi:10.1016/0005-1098(77)90020-6
[10] JOHANNESSEN, E.A. EGELAND, O. (1993). Dynamic positioning with wave filtering using a passive controller structure, In: Proc. of the 32nd IEEE Conf. On Decision and Control. San Antonio, USA. pp. 1903-1908.
[11] LOZANO-LEAL, R. JOSHI, S.M. (1988). On the Design of Dissipative LQG-Type Controllers, In: Proceedings of the 27th Conference on Decision and Control. Austin, USA. pp. 1645-1646.
[12] NOMOTO, K., TAGUCHI, T., HONDA, K. HIRANO, S. (1957). On the Steering Qualities of Ships, Technical report. Int. Shipbuilding Progress, Vol. 4.
[13] PAUSEN, M.J., EGELAND, O. FOSSEN, T.I. (1994). An output feedback controller with wave filter for marine vehicles, In: Proceedings of the 13th American Control Conference. Baltimore, USA, pp. 2202-2207.
[14] SÆLID, S., JENSSEN, N.A. BALCHEN. J.G. (1983). Design and analysis of a dynamic positioning system based on Kalman filtering and optimal control, IEEE Transactions on Automatic Control, AC-2.3, pp. 331-339 doi:10.1109/TAC.1983.1103225
[15] SARGENT, J.S. COWGILL, P.N. (1976). Design considerations for dynamically positioned utility vessels, In: Proceedings of the 8th Off-shore Technology Conference. Dallas, USA.
[16] SCHEI, T.S. (1995). Wave disturbance filtering in dynamic positioning systems, In: Proceedings of the IFAC workshop on Control Applications in Marine Systems, CAMS ´95. Trondheim, Norway.
[17] VIDYASAGAR, M. (1993). Nonlinear Systems Analysis-2nd edition, Prentice-Hall, Englewood Cliffs, NJ.


BibTeX:
@article{MIC-1996-2-5,
  title={{Passive output feedback and observer based autopilots: A comparative study}},
  author={Paulsen, Marit and Egeland, Olav},
  journal={Modeling, Identification and Control},
  volume={17},
  number={2},
  pages={121--133},
  year={1996},
  doi={10.4173/mic.1996.2.5},
  publisher={Norwegian Society of Automatic Control}
};