This chapter presents more advanced methods for optimal and nonlinear control of marine craft. Nonlinear control theory can often yield a more intuitive design than linear theory. The chapter deals with linear‐quadratic optimal control theory with the focus on regulation, trajectory‐tracking control and disturbance feedforward. Optimal control deals with the problem of finding a control law for a given system such that a certain optimality criterion is achieved. The basic idea with feedback linearization is to transform the nonlinear system dynamics into a linear system. Backstepping is a design methodology for construction of a feedback control law through a recursive construction of a control Lyapunov function. Nonlinear backstepping designs are strongly related to feedback linearization. A robust nonlinear control method is sliding mode control, which incorporates techniques to handle: structured uncertainties, and unstructured uncertainties. Robustness is achieved by altering the dynamics of the nonlinear system by application of a discontinuous control signal.
Advanced Motion Control Systems
2021-06-01
100 pages
Article/Chapter (Book)
Electronic Resource
English
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