Control Design For Slow Speed Positioning

The problem under study is a synthesis of position and heading control system for low frequency model of surface vessel described by 3 DOF mathematical model. The recursive vectorial backstepping control design was used to keep fixed position and heading in presence of wave disturbances. The controller has been simulated on computer model of scaled supply vessel. It has been assumed that the actuators produce generalized forces in all 3 degrees of freedom. The backstepping controller, proposed in this paper, in configuration with passive observer and wave filtering, make a good quality to keep fixed position and heading at low forward speed in comparison with PD controller.

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