Sliding mode control applied to Dynamic Positioning Systems

• Grant number: 11/08342-2
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: June 01, 2011
• End date: May 31, 2012
• Field of knowledge: Engineering - Naval and Oceanic Engineering - Design of Ships and Ocean Systems
• Principal Investigator: Eduardo Aoun Tannuri
• Grantee: Tadeu Ferreira de Sousa Junior
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil

Abstract

The research focuses on the area of control of mechanical systems and aims to develop theoretical and experimental techniques involving robust nonlinear control applied to nonlinear dynamic positioning (DP). Due to the nonlinearity of the system and the presence of unknown parameters, two robust control techniques are applied and compared: first order sliding mode control (SMC) and the higher order sliding mode control (Hosmer). In order to investigate the controller performance in the DP system, a simulator will be designed in Matlab / Simulink. The tests will be performed at the Department of Naval Architecture and Ocean Engineering from USP, in partnership with the graduate student Adriana Cavalcante Agostinho.