Feed-forward Disturbance Compensation for Station Keeping in Wave-dominated Environments

Kyle L. Walker, Adam A. Stokes, Aristides Kiprakis, Francesco Giorgio-Serchi*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

When deploying robots in shallow ocean waters, wave disturbances can be significant, highly dynamic and pose problems when operating near structures; this is a key limitation of current control strategies, restricting the range of conditions in which subsea vehicles can be deployed. To improve dynamic control and offer a higher level of robustness, this work proposes a Cascaded Proportional-Derivative (C-PD) with Feed-forward (FF) control scheme for disturbance mitigation, exploring the concept of explicitly using disturbance estimations to counteract state perturbations. Results demonstrate that the proposed controller is capable of higher performance in contrast to a standard C-PD controller, with an average reduction of 48% witnessed across various sea states. Additional analysis ≈also investigated performance when considering coarse estimations featuring in-accuracies; average improvements of 17%% demonstrate the effectiveness of the proposed strategy ≈to handle these uncertainties. The proposal in this work shows promise for improved control without a drastic increase in required computing power; if coupled with sufficient sensors, state estimation techniques and prediction algorithms, utilising feed-forward compensating control actions offers a potential solution to improve vehicle control under wave-induced disturbances.

Original languageEnglish
Title of host publicationOCEANS 2023 - Limerick, OCEANS Limerick 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350332261
Publication statusPublished - 12 Sept 2023
Event2023 OCEANS Limerick, OCEANS Limerick 2023 - Limerick, Ireland
Duration: 5 Jun 20238 Jun 2023

Publication series

NameOCEANS 2023 - Limerick, OCEANS Limerick 2023


Conference2023 OCEANS Limerick, OCEANS Limerick 2023

Keywords / Materials (for Non-textual outputs)

  • Disturbance Compensation
  • Dynamic Control
  • Feed-forward Control
  • State Estimation
  • Underwater Vehicles


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