| Issue |
MATEC Web Conf.
Volume 161, 2018
13th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2018
|
|
|---|---|---|
| Article Number | 03025 | |
| Number of page(s) | 6 | |
| Section | Robotics and Automation | |
| DOI | https://doi.org/10.1051/matecconf/201816103025 | |
| Published online | 18 April 2018 | |
Robust anti-windup control for marine cyber-physical systems
ITMO University, Department of Computer Science and Control Systems, 197101 49 Kronverksky Pr., St. Petersburg, Russia
* Corresponding author: kakanov.mikhail@niuitmo.ru
In this paper the robust output control with anti-windup compensation and its implementation to the robotic boat are addressed. The detailed control design and stability analysis of the closed-loop systems are provided in the work. Extensive experimental verification of the dynamic positioning system based on various modifications of the basic controller is carried out by means of robotic boat. The corresponding experimental results are presented and analysed.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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