Title :
Robust Synchronization Control of Multiple Vessels with Disturbances
Author :
Fuguang Ding ; Yanqin Ma ; Yuanwei Zhou
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
With external disturbances, an robust synchronization control approach is present. Then the robust synchronization control system comprises a disturbances observer and an controller. The disturbances observer is used to estimating the disturbances. And the errors of vessels are introduced to the controller. Meanwhile, the stability of the disturbances observer and the controller are proved by the Lyapunov theory. Finally, simulations are carried out to show effectiveness of the proposed control strategy.
Keywords :
Lyapunov methods; graph theory; hydrodynamics; observers; robust control; ships; synchronisation; Lyapunov theory; disturbance estimation; disturbance observer stability; external disturbances; multiple vessel errors; robust synchronization control approach; Mathematical model; Observers; Robot kinematics; Robustness; Service robots; Synchronization; Lyapunov theory; disturbances observer; multiple vessels; synchronization control;
Conference_Titel :
Instrumentation and Measurement, Computer, Communication and Control (IMCCC), 2014 Fourth International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4799-6574-8
DOI :
10.1109/IMCCC.2014.21
