Linear Algebra Based Controllers by Gustavo Scaglia & Mario Emanuel Serrano & Pedro Albertos

Author:Gustavo Scaglia & Mario Emanuel Serrano & Pedro Albertos
Language: eng
Format: epub
ISBN: 9783030428181
Publisher: Springer International Publishing

Fig. 5.4Ship position following the sinusoidal reference, with a plot of the ship orientation

Fig. 5.5Absolute values of the tracking errors versus time

Fig. 5.6Applied control action τu versus time

Fig. 5.7Applied control action τr versus time

Remark 5.1

At the end of this chapter, in Appendix 5.1, the Simulink diagram of the vessel model described here is detailed. The reader may implement this diagram and reproduce the earlier figures. Also, by changing the controller parameters the reader may experience about the simplicity of their selection. Other than that, the robustness to external disturbances or changes in the model parameters can also be verified by the reader, to get a better insight into the LAB CD methodology.

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