Abstract
Here we explore the control of marine vehicles when their dynamics can be modeled in state space as linear time invariant systems. With this approach one can determine if the vehicle is controllable and whether it is possible to estimate the full system state using available measurements of its output. Techniques for designing state feedback controllers, state observers (estimators) and compensators, which combine a state feedback controller and an observer, are introduced. The concept of the two degree of freedom control architecture is presented. This architecture can provide greater control design flexibility by permitting one to separate tracking requirements from stability or disturbance rejection requirements. Lastly, the use of linear disturbance observer based control design, which can provide robustness to both disturbances and model uncertainty is examined.
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Notes
- 1.
An input signal can be constrained when it is affected by actuator saturation (Sect. ) or actuator rate limits (Sect. ), for example.
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von Ellenrieder, K.D. (2021). Linear State Space Control Methods. In: Control of Marine Vehicles. Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping, vol 9. Springer, Cham. https://doi.org/10.1007/978-3-030-75021-3_6
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DOI: https://doi.org/10.1007/978-3-030-75021-3_6
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