Title :
Non-linear ship positioning system design using an H2 controller
Author :
Donha, D.C. ; Desanj, D.S. ; Katebi, M.R. ; Grimble, M.J.
Author_Institution :
Mech. Eng. Dept., Univ. of Sao Paulo, São Paulo, Brazil
Abstract :
A full non-linear ship model is used to simulate the motions of a DP ship. The DP controller synthesis is based on an H2 control approach. The work presents both the simulation and the control models used in the control design. To achieve satisfactory stability robustness levels, linearisations performed during control procedures are improved using information on the thruster domain of operation. The objective of the control design is to improve the system performance relative to standard Kalman filtering.
Keywords :
H2 control; Kalman filters; control system synthesis; linearisation techniques; nonlinear control systems; position control; ships; DP controller synthesis; DP ship; H2 controller; control model; linearisations; nonlinear ship positioning system design; simulation model; stability robustness levels; standard Kalman filtering; system performance; thruster domain; Control systems; Force; Frequency control; Hydrodynamics; Marine vehicles; Mathematical model; Surges; H2 Control; Non-linear Model; Ship Positioning;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
