Title :
Digital control problems for dynamically positioned ships
Author :
Kaji, Hirotaka ; Katayama, Hitoshi
Author_Institution :
R&D Sect., Yamaha Motor Co., Ltd., Iwata, Japan
Abstract :
Digital control problems for dynamically positioned ships are considered by nonlinear sampled-data control theory based on Euler approximate models. State feedback laws that guarantee semeglobal practical asymptotic (SPA) stability of ships are designed. Then the reference signals for the position and the attitude of ships are introduced and state feedback tracking laws are also designed. The effectiveness of the designed feedback laws is demonstrated via experiments by using a small test boat.
Keywords :
asymptotic stability; control system synthesis; digital control; nonlinear control systems; ships; state feedback; Euler approximate models; digital control problems; dynamically positioned ships; nonlinear sampled-data control theory; semeglobal practical asymptotic stability; state feedback laws; state feedback tracking laws; Asymptotic stability; Control system synthesis; Control systems; Control theory; Digital control; Marine vehicles; Nonlinear control systems; Optimal control; Signal design; State feedback;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
St. Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5281048
