DocumentCode
3313786
Title
H∞ control of ship steering
Author
Xingcheng, Wang ; Ying, Ren
Author_Institution
Sch. of Autom. & Electr. Eng, Dalian Maritime Univ., China
Volume
2
fYear
2004
fDate
1-3 Dec. 2004
Firstpage
1198
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN
0-7803-8645-0
Type
conf
DOI
10.1109/RAMECH.2004.1438091
Filename
1438091
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