Roll reduction and course keeping for the ship moving in waves with factorized NGMV control

Author

Zhiquan Liu ; Hongzhang Jin ; Grimble, M.J. ; Katebi, Reza

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin, China

fYear

2014

fDate

15-17 Dec. 2014

Firstpage

5692

Lastpage

5697

Abstract

A factorized Nonlinear Generalized Minimum Variance (NGMV) control law is developed for a combined roll and yaw motion compensation using rudders and fins. The nonlinear model used for control design includes the non-minimum phase interaction from rudder to roll motion, and the dynamics from fins to yaw motion. This controller is developed using the polynomial approach to ensure that the non-minimum phase system remains stable in closed-loop. The effectiveness of the approach is demonstrated on a simulated nonlinear ship model.

Keywords

closed loop systems; control system synthesis; motion compensation; nonlinear control systems; ships; stability; closed-loop system; control design; course keeping; factorized NGMV control; factorized nonlinear generalized minimum variance control law; fin-to-yaw motion; nonlinear ship model; nonminimum phase interaction; polynomial approach; roll motion compensation; roll reduction; rudder-to-roll motion; stability; yaw motion compensation; Conferences;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on

Conference_Location

Los Angeles, CA

Print_ISBN

978-1-4799-7746-8

Type

conf

DOI

10.1109/CDC.2014.7040280

Filename

7040280