ROBUST CONTROL FOR HEAVE COMPENSATOR WITH THE USE OF KALMAN FILTER-BASED DISTURBANCES ESTIMATOR

摘要

This paper presents a backstepping approach for an active heave compensator actuated by a double acting cylinder. For practical applications, is desired to stabilize the system around the equilibrium point when subjected to unknown external disturbances. Knowing the governing equations, a robust backstepping control design is proposed by introducing a well-defined smooth function and using a Nussbaum function together with a Kalman filter-based disturbance estimator. The efficiency of the proposed control scheme is demonstrated through numerical simulations and compared with related works.