Aplicación de técnicas de control robusto QFT a sistemas navales

Muñoz-Mansilla, R.; Aranda, J.; Díaz, J.M.; Chaos, D.

doi:10.1016/j.riai.2012.05.011

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Resumen

En este trabajo se realiza un análisis de diferentes metodologías de control robusto basadas en la técnica denominada Teoría de la Realimentación Cuantitativa, QFT (Quantitative Feedback Theory) para resolver diferentes problemáticas que surgen en los sistemas de control marinos. En concreto se estudia el posicionamiento dinámico de una plataforma marina fondeada, la estabilización de un buque de alta velocidad, y el seguimiento de referencia para un aerodeslizador. Estos problemas de control presentan grandes retos de diseño, dado que son sistemas no lineales, multivariables, subactuados y con grandes perturbaciones. Los diferentes tipos de diseño QFT obtenidos consiguen una implementación robusta con prevención de acoplamientos, reducción de perturbaciones ambientales, respuestas rápidas y precisión en el seguimiento, que demuestran finalmente que es una alternativa práctica y eficaz para la solución de problemas de control en vehículos navales

Palabras clave:

Control robusto

sistema no lineal

vehículo subactuado

sistema naval

diseño QFT

Abstract

In this work an analysis of the application of the Quantitative Feedback Theory (QFT) technique to different marine systems is presented. Specifically, the problems of dynamic positioning of a moored platform, stabilization of a fast ferry and the tracking control of a hovercraft are studied. This control problem presents interesting questions to deal with, since the plants are non-linear, multivariable, underactuated and subject to large disturbances due to waves.Three multivariable nonlinear problems are solved using different sequential procedures. It is shown that the QFT controllers synthesis achieve robust performance, decoupling, environment disturbance reduction, quick answers and tracking precision. Therefore, it is shown that robust techniques based on QFT methodologies result feasible and very suitable, constituting an attractive alternative for robust design of marine vehicles.

Keywords:

Nonlinear system

robust control

underactuated vehicle

control marine system

QFT design

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Referencias no citadas

Aguiar and Hespanha, 2003, Amerongen van et al., 1990, Allison et al., 2004, Andry et al., 1983, Aranda et al., 2005, Baños, 2007, Baños and Horowitz, 2000, Baños and Horowitz, 2004, Baños et al., 2003, Basso et al., 1993, Bazán National Company, 1995, Borguesani et al., 1995, Burns, 1995, Chen and Balance, 2001, Cirre et al., 2010, Comasòlivas et al., 2004, Cruz de la et al., 2004, Cruz de la et al., 1997, Díaz et al., 2005, Djouani and Hamam, 1995, Egaña and Sabalza, 2006, Fossen, 1994, Fossen and Blanke, 2000, García-Sanz et al., 2001, García Sanz, 2005, García Sanz and Torres, 2004, Horowitz, 1963, Horowitz, 1975, Horowitz, 1976, Horowitz, 2001, Horowitz, 1972, Horowitz and Sidi, 1978, Houpis et al., 2006, Hu et al., 2003, Juang and Chang, 1999, Kajiwara et al., 1995, Karpenko and Sepehri, 2006, Katebi et al., 1997, Katebi et al., 2001, Kerr and Jayasuriya, 2005, McClure and Paschall, 1992, Moreno et al., 2006, Muñoz-Mansilla et al., 2009, Niksefat et al., 2007, Ryoo et al., 2002, Strand and Sorensen, 2000, Sobel and Shapiro, 1985, Tanaka et al., 2001, Ting-Yun, 1996, Wu et al., 1998, Wu et al., 2004, Yamamoto, 2001, Yaniv, 1991, Yaniv, 1999, Yaniv and Horowitz, 1986 and Zeidler, 1986.

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