Application of QFT order reduction methodology in the control of an autonomous marine vehicle

  1. Aranda, J. 1
  2. Joglar, J. 2
  1. 1 Dept. Informatica y Automatica Universidad Nacional de Educación a Distancia (UNED)
  2. 2 Universidad Nacional de Educación a Distancia
    info

    Universidad Nacional de Educación a Distancia

    Madrid, España

    ROR https://ror.org/02msb5n36

Revista:
Journal of maritime research: JMR

ISSN: 1697-4840

Ano de publicación: 2014

Volume: 11

Número: 3

Páxinas: 67-78

Tipo: Artigo

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Outras publicacións en: Journal of maritime research: JMR

Resumo

Quantitative Feedback Theory (QFT) is a control methodology that allows you to work with mathematical models of high order, although it gives rise to compensators (controllers and/or prefilters) with order also high. The implementation of such controllers generates problems, even in some occasions unworkable. So, it’s necessary trying to reduce the order of the model, to get low order controllers; or treating with the high order plant and reducing only the solution controllers. We are applying a QFT order reduction methodology for the course-changing control of a marine vehicle. The results are compared with those obtained with a classical QFT controller and with a PID controller.

Fonte de datos: Dialnet