Position Control of an Integrated Ship-Mounted Two-DoF Manipulator Model Using Nonlinear Kalman Filter

Penulis:

A ship-mounted two-DoF manipulator is considered as a complex dynamics system to be controlled. This paper addresses such a challenge by proposing an integrated mathematical model of such a system which includes three-phase AC servo motor with its driver system, mechanical transmission, two-DoF manipulator system and ship. The system is named an integrated shipmounted two-DoF manipulator (ISTM) model. It is generated using physical characteristics of the aforementioned subsystems in conjunction with the Lagrange-Euler approach. As position control for the ISTM model, nonlinear Kalman Filter is proposed under three cases: Case-1 is a cascade controller that has inner- and outer-loops. The inner-loop is assigned to control the speed motor based on Extended Kalman Filter (EKF), and the outer-loop is assigned to control the manipulator position based on Derivative-Free Kalman Filter (DKF). Case-2 is an application of EKF controller using Jacobian Matrix transformation and case-3 is an application of DKF controller using canonical Brunovsky transformation. Through extensive simulations and experiments, results show that DKF controller (Case-3) is found to be superior compared to the two other proposed controllers in terms of accuracy, stability, and time-domain performances. It is also found that the DKF controller is capable of providing a more robust resistance in the face of the randomness of ocean waves-induced ship motions.

International Journal of Naval Architecture and Ocean Engineering

No. Arsip : LIPI-20220127
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