Research output: Contribution to journal › Article › peer-review
Control System Design for Visual Positioning of a Ship Based on NMPC and Multi-objective Structure. / Sotnikova, Margarita V.
In: IFAC-PapersOnLine, Vol. 51, No. 32, 01.01.2018, p. 445-450.Research output: Contribution to journal › Article › peer-review
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TY - JOUR
T1 - Control System Design for Visual Positioning of a Ship Based on NMPC and Multi-objective Structure
AU - Sotnikova, Margarita V.
PY - 2018/1/1
Y1 - 2018/1/1
N2 - The paper is devoted to the area of visual feedback control and the problem of visual dynamic positioning of a ship is considered. It is assumed that the ship is equipped with a camera, through which the necessary information about the objects in 3D world is extracted. The control objective is to provide a given projection of some observable 3D object onto the image plane of the camera. The important feature of the system is that the mathematical model describing its dynamics is essentially nonlinear. The proposed approach to the control system design is based on the nonlinear model predictive control (NMPC) and multi-objective structure of the control law. NMPC is used to calculate the optimal nominal motion on the prediction horizon and the multi-objective structure is applied to design a stabilizing control law in the vicinity of this motion. The obtained results are illustrated by practical example.
AB - The paper is devoted to the area of visual feedback control and the problem of visual dynamic positioning of a ship is considered. It is assumed that the ship is equipped with a camera, through which the necessary information about the objects in 3D world is extracted. The control objective is to provide a given projection of some observable 3D object onto the image plane of the camera. The important feature of the system is that the mathematical model describing its dynamics is essentially nonlinear. The proposed approach to the control system design is based on the nonlinear model predictive control (NMPC) and multi-objective structure of the control law. NMPC is used to calculate the optimal nominal motion on the prediction horizon and the multi-objective structure is applied to design a stabilizing control law in the vicinity of this motion. The obtained results are illustrated by practical example.
KW - dynamic positioning
KW - multi-objective control
KW - Nonlinear predictive control
KW - visual feedback
UR - http://www.scopus.com/inward/record.url?scp=85058238915&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2018.11.425
DO - 10.1016/j.ifacol.2018.11.425
M3 - Article
AN - SCOPUS:85058238915
VL - 51
SP - 445
EP - 450
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8971
IS - 32
ER -
ID: 41402841