Title :
H∞ control of ship steering
Author :
Xingcheng, Wang ; Ying, Ren
Author_Institution :
Sch. of Autom. & Electr. Eng, Dalian Maritime Univ., China
Abstract :
This paper is concerned with an investigation into the use of two degree of freedom (TDF) H∞ control theory in 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 robustness and 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 an autopilot can steadily keep and quickly change ship course under various navigation conditions.
Keywords :
H∞ control; closed loop systems; control system synthesis; motion control; navigation; ships; DaQing-233 ship model; navigation; robustness; ship autopilot design; ship steering; two degree of freedom H∞ control theory; yaw dynamics control; Automatic control; Automation; Control theory; Design methodology; Marine vehicles; Mathematical model; Riccati equations; Robust control; Robust stability; Time factors;
Conference_Titel :
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN :
0-7803-8645-0
DOI :
10.1109/RAMECH.2004.1438091
