Control mixto para el seguimiento de trayectoria en buques marinos
DOI:
https://doi.org/10.4995/riai.2021.15027Palabras clave:
Control adaptable, algebra lineal, seguimiento de trayectoria, buques marinos, control no linealResumen
Este trabajo muestra el diseño de un controlador adaptable para un buque marino; la estrategia de control que se propone es la aplicación de un controlador basado en álgebra lineal para la cinemática y una técnica de control adaptable para la parte dinámica del buque. El controlador basado en álgebra lineal (LABC) para cinemática recibe las referencias de posición deseadas y esto genera otro par de velocidad de referencia para el controlador adaptable (dinámico). El objetivo principal de la aplicación de la técnica de control adaptable se presenta en el caso de que la masa del buque varíe con su trayectoria (por ejemplo, buque pesquero, buque de reabastecimiento de combustible, etc.) donde el controlador adaptable ajusta sus parámetros mediante la ley de adaptación, que a su vez genera una acción de control que compensa las variaciones dinámicas del buque. Además, este trabajo presenta el análisis de estabilidad y la ley de ajuste adaptable basada en la teoría de Lyapunov. Los resultados de simulación muestran que el sistema puede seguir las señales de referencia con un error muy bajo aún en presencia de incertidumbre.Descargas
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