Robust Control for the Coupling of Lateral and Longitudinal Dynamics in High Speed Crafts
| Authors: | Aranda Joaquin, UNED, Spain
Munoz-Mansilla Rocio, UNED, Spain
Díaz José Manuel, UNED, Spain
Dormido-Canto Sebastián, UNED, Spain |
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| Topic: | 7.2 Marine Systems |
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| Session: | Marine Systems |
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| Keywords: | actuators, stability, robust control, closed-loop, open-loop, controllers, dynamic behavior models, Nichols chart |
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Abstract
In this work, the QFT technique was used to control a system with three degrees of freedom of coupled movement. The example is the coupling between the vertical and the horizontal dynamics of a high-speed craft. Since the angle between the heading and the seaway is different from 180 degrees, the action of the actuators for controlling each dynamic produces a coupling in the other dynamic. Firstly, controllers for the two dynamics were designed separately. Then, the actuator coupling was considered, and finally, it was shown how the controllers reduce the three coupled modes in the whole system
