ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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9
Issue
vol 63 / September, 2020
Article

DOI 10.17586/0021-3454-2015-58-9-713-719

UDC 681.53

ROBUST SYSTEM OF DYNAMIC POSITIONING FOR ROBOTIZED MODEL OF SURFACE CRAFT

S. M. Vlasov
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


O. I. Borisov
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate,engineer


V. S. Gromov
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor


A. A. Pyrkin
ITMO University, Saint Petersburg, 197101, Russian Federation; Professor, Dean


A. A. Bobtsov
ITMO University, Saint Petersburg, 197101, Russian Federation; Dean, Head of Chair


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Abstract. A robotic setup for surface craft movement modeling is presented. The setup is used for testing of algorithms of control over dynamic positioning and external disturbances effects compensation systems. Mathematical model of the robotic system is analyzed; the multi-channel model is decomposed to separate a static function and independent single input — single output dynamic channels. A robust system for dynamic positioning of the craft based on consequent compensation control law is developed. Results of experimental study are demonstrated.
Keywords: robust control, parametric uncertainty, dynamic positioning system, surface craft, robotic system, consequent compensation