Control of Dynamic Positioning Ship Using Internal Model Control

Dynamic Positioning Ship System (DP) is an automated system, which is used to keep the ship maintain its position and heading at a fixed location or navigate along a predetermined track exclusively by mean of its own actives propulsions systems without using such fixing device as the anchor. DP system’s task is to control the ship moving at a fixed position or moves following the route for previous with low speed to execute a task. This paper presents a novel stability robustness controller for a dynamic positioning ship with uncertainties and unknown external disturbances. For the development and testing of the controller we present shematic diagram of DP systems, the mathematical modeling of the ship and the bias forces as slowly-varying environmental disturbances. The proposed controller has two loops. The inner loop uses an internal model control (IMC) technique to control the speed of the ship. The outer loop uses a propotional (P) control ler to control the position of the ship. The stability robustness of the control system is analysed. One of the key aspects of the prposed controller is that the robustness of the closed loop system can tuned via a single tuning parameter. The simulation results demonstrate that the proposed control system has high performance and robustness in the present of environment disturbance and uncertainty. The proposed control system was compared with PID control.The control algorithm of ship dynamic positioning is generally based on the classic PID, PID control has many advantages and has a strong robustness. However, the parameters of the PID control depend on the test will cost a lot of time and energy. Simulation results are provided to illustrate the effectiveness of the proposed controller. The problem of guidance and control of thruster actuators is out of scope of the paper.

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Attitude Controller Design of Multiple Independently Targeted Reentry Vehicle Based on Internal Model Control

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.462-463.809 ◽

2013 ◽

Vol 462-463 ◽

pp. 809-814

Author(s):

Fei Zhao ◽

Fan Li ◽

Jian Hui Zhao

Keyword(s):

Control System ◽

Attitude Control ◽

Internal Model ◽

Internal Model Control ◽

Attitude Dynamics ◽

Attitude Control System ◽

Reentry Vehicle ◽

Model Control ◽

Internal Model Controller ◽

Attitude Controller

A Multiple Independently Targeted Reentry Vehicle (MIRV) is a ballistic missile payload containing several warheads each capable of hitting one of a group of targets. In the process of missile flight control, the release of warheads brings about coupling to the missile attitude control system which will lower the flight stability. In order to solve this problem, a missile attitude controller, which combined the α-order integral inverse system with internal model principle, was presented. Firstly, determine the Post Boost Vehicle (PBV) attitude dynamics model. Then, combine the linearization of attitude dynamics equation with feed-forward decoupling method to implement the attitude decoupling. Finally, a two-degree of freedom (TOF) multivariable internal model controller was set up to optimize the control system performance. Simulation results show that the coupling of attitude control system has been eliminated. Compared with the original system, the internal model controller provides the control system better input-tracking performance, robust stability and interference suppression capacity.

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The Internal Model Control for Nonlinear System Based on LS_SVM

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.556-562.2410 ◽

2014 ◽

Vol 556-562 ◽

pp. 2410-2413

Author(s):

Sheng Bo Zhang

Keyword(s):

Nonlinear System ◽

Internal Model ◽

Good Control ◽

Inverse Model ◽

Internal Model Control ◽

Control Performance ◽

Model Control ◽

Simulation Results

An internal model and an inverse model of nonlinear system were established based on LS_SVM. On this basis the algorithm of internal model control for nonlinear system based on LS_SVM was put forward. The simulation results show that the internal model and the inverse model of nonlinear have high modeling precision and strong generalization. What’s more the algorithm of internal model control for nonlinear system based on LS_SVM has good control performance, strong anti-jamming ability and robustness.

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Rough set based modeling and controller design in an internal model control system

SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483) ◽

10.1109/icsmc.2003.1244441 ◽

2004 ◽

Cited By ~ 1

Author(s):

Tan Tian-le ◽

Song Zhi-huan ◽

Li Ping

Keyword(s):

Control System ◽

Rough Set ◽

Internal Model ◽

Controller Design ◽

Internal Model Control ◽

Model Control

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Modelling and robust stability in the internal model control system

10.1109/cdc.1987.272627 ◽

1987 ◽

Author(s):

David Owens ◽

Jianshe Guan

Keyword(s):

Control System ◽

Robust Stability ◽

Internal Model ◽

Internal Model Control ◽

Model Control

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Control system for lower limb function training device by using internal model control

2009 IEEE International Conference on Rehabilitation Robotics ◽

10.1109/icorr.2009.5209536 ◽

2009 ◽

Cited By ~ 1

Author(s):

Ryoichi Suzuki ◽

Ippei Kitabayashi ◽

Nobuaki Kobayashi ◽

Eberhard P. Hofer

Keyword(s):

Control System ◽

Lower Limb ◽

Internal Model ◽

Internal Model Control ◽

Training Device ◽

Limb Function ◽

Model Control ◽

Lower Limb Function

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Design of Internal Model Control Based on an Optimal Control for a Servo System

Journal of Control Science and Engineering ◽

10.1155/2015/689767 ◽

2015 ◽

Vol 2015 ◽

pp. 1-5 ◽

Cited By ~ 4

Author(s):

Hiromitsu Ogawa ◽

Ryo Tanaka ◽

Takahiro Murakami ◽

Yoshihisa Ishida

Keyword(s):

Optimal Control ◽

Control System ◽

Transfer Function ◽

Internal Model ◽

Dead Time ◽

Servo System ◽

Previous Method ◽

Internal Model Control ◽

Model Control ◽

Disturbance Response

This paper describes a design of internal model control based on an optimal control for a servo system. The control system has the feedback based on the proposed disturbance compensator in the disturbance response. The compensator is designed to become the denominator of the transfer function without a dead time in the disturbance responses. The disturbance response of the proposed method is faster than that of the previous method.

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An Internal Model Controller for Three-Phase APF Based on LS-Extreme Learning Machine

The Open Electrical & Electronic Engineering Journal ◽

10.2174/1874129001408010717 ◽

2014 ◽

Vol 8 (1) ◽

pp. 717-722

Author(s):

Zhenhua Shao ◽

Tianxiang Chen ◽

Li-an Chen ◽

Hong Tian

Keyword(s):

Control System ◽

Least Squares ◽

Extreme Learning Machine ◽

Internal Model ◽

Internal Model Control ◽

Support Vector ◽

Three Phase ◽

Model Control ◽

Internal Model Controller ◽

Learning Machine

Aiming at the problem that the three-phase APF’s dynamic model is a multi-variable, nonlinear and strong coupling system, an internal model controller for three-phase APF based on LS-Extreme Learning Machine is studied in this paper. As a novel single hidden layer feed-forward neural networks, extreme learning machine (ELM) has several advantages: simple net structural, fast learning speed, good generalization performance and so on. In order to improve the controller’s dynamic responses, a least squares extreme learning machine for internal model control is proposed. A least squares ELM regression (LS-ELMR) model for the three-phase APFS on-line monitoring was built from external factors with in-out datum. Moreover, the relative stable error is presented to evaluate the system performance and the features for the internal model control system based on extreme learning machine, neural network, kernel ridge regress and support vector machine. The experimental results show that the LS-internal model control system based on extreme learning machine has good dynamic performance and strong filtering result.

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An Internal Model Control Based Static Anti-Windup Scheme With Improved Performance

ASME 2010 Dynamic Systems and Control Conference, Volume 2 ◽

10.1115/dscc2010-4178 ◽

2010 ◽

Author(s):

Wei Wu

Keyword(s):

Internal Model ◽

Input Saturation ◽

Internal Model Control ◽

Controller Synthesis ◽

Linear Matrix ◽

Constrained System ◽

Stability Robustness ◽

Model Control ◽

Improved Performance ◽

The Stability

This paper considers the synthesis of static anti-windup (AW) compensation within the internal model control (IMC) AW framework for stable plants subject to input saturation. Built on the conventional IMC AW scheme which preserves the stability and the stability robustness of the unconstrained system, the proposed static AW compensation improves the constrained system performance. L2 gain performance of the constrained system is considered for the static AW controller synthesis, resulting in a linear matrix inqualitiy. The effectiveness of this AW scheme is demonstrated by comparison with two AW methods from the literature through using two numerical examples.

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