MURAL - Maynooth University Research Archive Library

    Predictor Design for Altitude Control of a Seaweed Harvester

    Galllieri, Marco and Ringwood, John and Giantomassi, Andrea and Ippoliti, Gianluca and Longhi, Sauro (2010) Predictor Design for Altitude Control of a Seaweed Harvester. In: IFAC Conference on Control Applications in Marine Systems (CAMS), September 2010, Rostock.

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    In this paper, the predictor design, for altitude control of a seaweed harvester, is investigated. The harvesting system consists of a vessel and a suspended harvester device, the altitude of which is controlled by a winch. The control approach of Gallieri and Ringwood (2010), including a feedforward action, which requires a single step disturbance prediction, is investigated further, focusing on the disturbance prediction, for noisy sensors. The prediction is performed using AR and ARMA models, identified online, by using the Recursive Least Squared with Forgetting Factor (RLSFF) algorithm and the Kalman Filter (KF). The dependance between the error spectrum and the quality of the control is shown, and the prediction performances are evaluated, using an FFT-based criterion, oriented to the feedforward application. The control performances are then evaluated, and the results are compared to Gallieri and Ringwood (2010).

    Item Type: Conference or Workshop Item (Paper)
    Keywords: Marine systems; Feedforward compensation; Linear prediction; Kalman filters; Recursive least squares; Spectral analysis;
    Academic Unit: Faculty of Science and Engineering > Electronic Engineering
    Item ID: 3609
    Depositing User: Professor John Ringwood
    Date Deposited: 01 May 2012 09:01
    Refereed: Yes
    Use Licence: This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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