Title :
Design of a nonlinear H∞ controller applied to a ship control system
Author :
Yang, Pao-Hwa ; Hu, Shr-Shiung ; Juang, J.Y.
Author_Institution :
C.S.F., Taiwan, China
Abstract :
A ship course-keeping control system is formulated as a nonlinear H∞ control problem. In order to construct a nonlinear H ∞ controller to solve the problem, it is essential to find a solution for the Hamilton-Jacobi equation (HJE). A modified successive algorithm is proposed to obtain an approximate solution of the HJE and then a nonlinear H∞ controller is constructed. Simulations of the closed-loop ship motion responses are provided to illustrate the performance and robustness of the nonlinear H ∞ controller
Keywords :
H∞ control; closed loop systems; control system synthesis; matrix algebra; motion control; nonlinear control systems; position control; robust control; ships; state-space methods; Hamilton-Jacobi equation; approximate solution; closed-loop ship motion responses; modified successive algorithm; nonlinear H∞ controller; robustness; ship course-keeping control system; Algorithm design and analysis; Control system synthesis; Control systems; Helium; Marine vehicles; Motion control; Nonlinear control systems; Nonlinear equations; Riccati equations; Robust control;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897449
