MATEC Web of Conferences (Jan 2018)

Robust anti-windup control for marine cyber-physical systems

  • Kakanov Mikhail,
  • Kaliuzhny Mikhail,
  • Borisov Oleg,
  • Gromov Vladislav,
  • Vlasov Sergey,
  • Somov Sergey,
  • Pyrkin Anton

DOI
https://doi.org/10.1051/matecconf/201816103025
Journal volume & issue
Vol. 161
p. 03025

Abstract

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In this paper the robust output control with anti-windup compensation and its implementation to the robotic boat are addressed. The detailed control design and stability analysis of the closed-loop systems are provided in the work. Extensive experimental verification of the dynamic positioning system based on various modifications of the basic controller is carried out by means of robotic boat. The corresponding experimental results are presented and analysed.