Nonlinear predictive PID control designfor ship manoeuvering

M.R. Katebi, Q. Saeed

Research output: Contribution to conferencePaper

Abstract

In this paper a predictive Proportional-Integral- Derivative (PID) controller is proposed for ship Manoeuvring. PID control system is still being considered as a robust and reliable design by the industry and the control community. A feedback linearization along with predictive PID technique has been adopted here for ship Manoeuvring control design. In this paper, the predictive PID gains are obtained by minimizing the norm difference between control signal obtained from Generalized Predictive Control (GPC) and predictive PID formulation. The main advantage of the proposed method is that the input constraints as well as the future trajectories can be easily incorporated in control design. Simulation results are presented to demonstrate the performance of the proposed method.

Conference

Conference8th IFAC International Conference on Manoeuvring and Control of Marine Craft
CountryBrazil
Period16/09/0918/09/09

Fingerprint

Ships
Derivatives
Feedback linearization
Trajectories
Control systems
Controllers
Industry

Keywords

  • surface ship track control
  • ship manoeuvring
  • navigation
  • guidance and control of autonomus surface and underwater vehicles

Cite this

Katebi, M. R., & Saeed, Q. (2009). Nonlinear predictive PID control designfor ship manoeuvering. Paper presented at 8th IFAC International Conference on Manoeuvring and Control of Marine Craft, Brazil. https://doi.org/10.3182/20090916-3-BR-3001.00012
Katebi, M.R. ; Saeed, Q. / Nonlinear predictive PID control designfor ship manoeuvering. Paper presented at 8th IFAC International Conference on Manoeuvring and Control of Marine Craft, Brazil.
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title = "Nonlinear predictive PID control designfor ship manoeuvering",
abstract = "In this paper a predictive Proportional-Integral- Derivative (PID) controller is proposed for ship Manoeuvring. PID control system is still being considered as a robust and reliable design by the industry and the control community. A feedback linearization along with predictive PID technique has been adopted here for ship Manoeuvring control design. In this paper, the predictive PID gains are obtained by minimizing the norm difference between control signal obtained from Generalized Predictive Control (GPC) and predictive PID formulation. The main advantage of the proposed method is that the input constraints as well as the future trajectories can be easily incorporated in control design. Simulation results are presented to demonstrate the performance of the proposed method.",
keywords = "surface ship track control, ship manoeuvring, navigation, guidance and control of autonomus surface and underwater vehicles",
author = "M.R. Katebi and Q. Saeed",
year = "2009",
month = "9",
doi = "10.3182/20090916-3-BR-3001.00012",
language = "English",
note = "8th IFAC International Conference on Manoeuvring and Control of Marine Craft ; Conference date: 16-09-2009 Through 18-09-2009",

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Katebi, MR & Saeed, Q 2009, 'Nonlinear predictive PID control designfor ship manoeuvering' Paper presented at 8th IFAC International Conference on Manoeuvring and Control of Marine Craft, Brazil, 16/09/09 - 18/09/09, . https://doi.org/10.3182/20090916-3-BR-3001.00012

Nonlinear predictive PID control designfor ship manoeuvering. / Katebi, M.R.; Saeed, Q.

2009. Paper presented at 8th IFAC International Conference on Manoeuvring and Control of Marine Craft, Brazil.

Research output: Contribution to conferencePaper

TY - CONF

T1 - Nonlinear predictive PID control designfor ship manoeuvering

AU - Katebi, M.R.

AU - Saeed, Q.

PY - 2009/9

Y1 - 2009/9

N2 - In this paper a predictive Proportional-Integral- Derivative (PID) controller is proposed for ship Manoeuvring. PID control system is still being considered as a robust and reliable design by the industry and the control community. A feedback linearization along with predictive PID technique has been adopted here for ship Manoeuvring control design. In this paper, the predictive PID gains are obtained by minimizing the norm difference between control signal obtained from Generalized Predictive Control (GPC) and predictive PID formulation. The main advantage of the proposed method is that the input constraints as well as the future trajectories can be easily incorporated in control design. Simulation results are presented to demonstrate the performance of the proposed method.

AB - In this paper a predictive Proportional-Integral- Derivative (PID) controller is proposed for ship Manoeuvring. PID control system is still being considered as a robust and reliable design by the industry and the control community. A feedback linearization along with predictive PID technique has been adopted here for ship Manoeuvring control design. In this paper, the predictive PID gains are obtained by minimizing the norm difference between control signal obtained from Generalized Predictive Control (GPC) and predictive PID formulation. The main advantage of the proposed method is that the input constraints as well as the future trajectories can be easily incorporated in control design. Simulation results are presented to demonstrate the performance of the proposed method.

KW - surface ship track control

KW - ship manoeuvring

KW - navigation

KW - guidance and control of autonomus surface and underwater vehicles

U2 - 10.3182/20090916-3-BR-3001.00012

DO - 10.3182/20090916-3-BR-3001.00012

M3 - Paper

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Katebi MR, Saeed Q. Nonlinear predictive PID control designfor ship manoeuvering. 2009. Paper presented at 8th IFAC International Conference on Manoeuvring and Control of Marine Craft, Brazil. https://doi.org/10.3182/20090916-3-BR-3001.00012