Fractional Order Dynamic Positioning Controller

Abstract

Improving the performance of Dynamic Positioning System in such applications as station keeping, position mooring and slow speed references tracking requires improving the position and heading control precision. These goals can be achieved through the improvement of the ship control system. Fractional-order calculus is a very useful tool which extends classical, integer-order calculus and is used in contemporary modeling and control applications. Fractional-order PIƛDμ controller, based on the added flexibility of fractional-order operators, are capable of superior performance compared to their integer-order counterparts. This paper presents the fractional order PIƛDμ controller designed to maintain the ship position and heading and the results were compared with classical integer order PID controller.