Designing adaptive controller for boat s anchorless application

Name: Jirayu Samkunta

keyword: Anchorless application

; Dynamic positioning system

; Proportional integral derivative (PID)

; Feedback error learning

; CybershipII

Abstract: The anchorless application is a part of the dynamic positioning control for maintaining the position and heading of the surface vehicle at the desired position without a traditional anchor method. The anchorless application provides automatically maintaining position and heading based on environmental concerns, such as wind, current or water flow, and wave. Generally, the anchorless application is integrated into the dynamic positioning system, which is operated by using a Proportional-Integral-Derivative (PID) controller. The PID controller still provided insufficient, maintaining the position and heading of surface vehicles. Then, this study tries to implement the adaptive control technique for improving the performance of the dynamic positioning controller. A feedback error learning technique is an adaptive control technique based on the biology of the human brain. The FEL technique applies to utilize with the nonlinear complex system, which is found the real parameter of the system model precisely. The goal of this study is to design a controller to improve the performance of a maintained position and heading of the surface vehicle based on the FEL technique. The proposed controller was designed for the nonlinear CybershipII model with MATLAB/Simulink program. The scenario of simulation is assumed under the calm water sea state. The proposed controller scheme consists of both controller as a feedback PID controller and a feedforward controller based on FEL. And also, the observer is integrated into the proposed controller scheme. The proposed controller scheme can provide a faster rising time and the settling time of the system in both directions of motion (surge and sway directions) based on the Cybership II model. Besides, the proposed controller can reduce the position error based on the assumed scenario due to the calm water sea state. Moreover, the observer can eliminate the disturbances, which are generated from the white noise toolbox under the clam water sea state

Thammasat University. Thammasat University Library

Address: BANGKOK

Email: preserv@tu.ac.th

Name: Waree Kongprawechnon

Role: advisor

Created: 2019

Modified: 2022-10-28

Issued: 2022-10-28

วิทยานิพนธ์/Thesis

application/pdf

DOI: 10.14457/TU.the.2019.1451

eng

DegreeName: Master of Engineering

Level: Master's Degree

Descipline: Information and Communication Technology for Embedded Systems

Grantor: Thammasat University

©copyrights Thammasat University

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