S.P.Dmitriev, A.E.Pelevin
Guidance and Control Problems of Marine Vehicle Track-Keeping
160 p.
© S.P.Dmitriev, A.E.Pelevin, 2002
S.Petersburg, SRC of Russia - CSRI Elektropribor, 2002 (in Russian)
ISBN 5-900780-36-8.
The book deals with the problem of optimal ship stabilization on a trajectory under the effect of stochastic disturbances with the state vector measured either not fully or in error. Particular attention has been given to:
- substantiation of the possibility to use a suboptimal law in controlling a nonlinear object;
- allowance made for uncertainty of ship model parameters and disturbances using the control law, identification and state vector estimation;
- study of optimal methods for processing navigation information with consideration for dynamic features of the control object;
- definition of the requirements to the accuracy of navigation data sensors based on the analysis of ship motion control efficiency.
The book is intended for scientists, engineers and technicians engaged in navigation and motion control, as well as for teachers training postgraduates and high-school students in these subjects.
Bibliography: 175 references. 8 illustrations.
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Introduction. | 3 |
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Chapter 1. Problem Statement of Marine Vehicle Track-Keeping | 8 |
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1.1. Methods of Control Optimization | - |
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1.2. Track-Keeping of a Ship in the Modern Navigation Systems | 20 |
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1.3. Equations of Ship Motion | 24 |
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1.4. Environmental Disturbances | 27 |
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1.5. Error Models for Navigation Data Sensors | 30 |
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1.6. Main Problems of Track-Keeping | 32 |
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Chapter 2. Reasoning of Linear Quadratic Approach for Nonlinear Ship Model | 37 |
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2.1. Performance Index of Track-Keeping | - |
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2.2. Lower and Upper Boundary Estimation of Performance Index Value Under Stochastic Disturbances | 46 |
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2.3. Reasoning of an Opportunity to Use the Linear Quadratic Approach | 54 |
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Chapter 3. Robust Control and Guaranteeing Filtering under Uncertainty Parameters Model of State Vector | 58 |
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3.1. Problem statement | - |
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3.2. Control Law with the Reduced Sensitivity to the Model Parameters Uncertainty | 62 |
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3.3. Guaranteeing Control Law under Model Parameters Interval Uncertainty | 70 |
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3.4. Robust Track-Keeping | 76 |
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3.5. Guaranteeing Linear Filtering under Model Parameters Uncertainty of State Vector | 80 |
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Chapter 4. Identification of Ship Model by Multialternative Filtering Technique and Adaptation of Control | 95 |
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4.1. Identification Methods of the Vehicle Model | - |
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4.2. Identification of the Vehicle Model Based on Multialternative Filtering Technique | 101 |
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4.3. Method of Base Models Construction in the Area of Vehicle Parameter Uncertainty and Disturbances for Economical Identification | 105 |
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Chapter 5. Integration of Inertial and Satellite Navigation Systems | 113 |
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5.1. Data Processing Algorithms in Integrated Navigation Systems | 114 |
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5.2. Problem of Navigation Parameters Estimation at Noninvariant Processing of INS/SNS System Data | 118 |
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5.3. Selection of INS Type for Track-Keeping | 128 |
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Conclusions | 131 |
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References | 133 |
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Appendix A | 146 |
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Appendix B | 153 |