Title :
Two-degree-of-freedom H∞ control of ship steering
Author :
Xingcheng, Wang ; Ran, Wang
Author_Institution :
Coll. of Autom. & Electr. Eng, Dalian Maritime Univ., China
Abstract :
The paper is concerned with an investigation into the use of two degree of freedom (TDF) H∞ control theory to a ship autopilot design. The method can overcome the computation difficulty of the classical H∞ optimization method due to the origin pole of the ship model. The presented TDF H∞ robust controller can guarantee the robustness and the performance of the closed-loop. The autopilot is being used to control the yaw dynamics of the "DaQing-233" ship model. Simulation results presented show the viability of such an approach. It is shown that the designed TDF H∞ controller of the autopilot can steadily keep and quickly change the ship course under various navigation conditions.
Keywords :
H∞ control; H∞ optimisation; closed loop systems; control system synthesis; digital simulation; navigation; position control; robust control; ships; DaQing-233 ship model; autopilot design; classical H∞ optimization method; closed-loop; course keeping; robust controller; robustness; ship steering; two-degree-of-freedom H∞ control; yaw dynamics; Automatic control; Automation; Design methodology; Educational institutions; Marine vehicles; Mathematical model; Riccati equations; Robust control; Robust stability; Time factors;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1022218
