engleski

Constrained Covariance Control Approach in Dynamic Positioning of Floating Vessels

The main objective of this research is to develop methodologies to improve the performance and reliability of floating vessels control utilizing the recent developments in the field of the constrained covariance control techniques. In former investigations the control¬ ler gain ma¬ trices were determined using classi¬ cal Linear Quadratic Gaussian (LQG) optimal control technique. The disadvantages of that ex¬ hausted procedure (there are not physical sense of weighting matrices Q and R, and usually the objectives are conflicting) are presented. Using the proposed tech¬ nique these disadvantages are avoided.

ship control; linear quadratic control; constrained covariance control

nije evidentirano