Learning tracking control of ocean structure under unknown disturbances
- Univ. of Tokyo (Japan). Dept. of Naval Architecture and Ocean Engineering
When an ocean structure is constructed from several part-structures, the construction operations, such as mating, positioning and transportation of these structures at the construction site, must be carried out under various disturbances. This paper presents learning trajectory tracking control when a structure is transported repeatedly along the objective trajectory under unknown steady disturbance. Corresponding to the premise, a learning controller which is constituted by both feedback controller and feedforward controller is proposed. The controller improves its feedforward control force every time it tracks the same objective trajectory by learning unknown disturbances from the difference between the objective trajectory and previously realized trajectory. In this study, simulations and basin experiments, using a model of a semi-submersible are conducted. The learning controller showed good performance in both simulation and basin experiment under the unknown disturbances.
- OSTI ID:
- 455443
- Report Number(s):
- CONF-9606279--; ISBN 0-7918-1495-5
- Country of Publication:
- United States
- Language:
- English
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