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A nonlinear robust controller design for ship dynamic positioning based on L2 -gain disturbance rejection
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نویسنده
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xia g. ,xue j. ,guo a. ,liu c. ,chen x.
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منبع
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journal of control science and engineering - 2016 - دوره : 2016 - شماره : 0
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چکیده
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In ship motion control process,it is difficult to design ship controller due to the effects of environmental disturbances such as wind,waves,current,and unmodelled dynamics. in order to solve these problems,a nonlinear robust controller based on l2-gain disturbance rejection is proposed in this paper. to steer ships to the desired position,an error feedback control law on account of lyapunov functions is designed. then,to satisfy the l2-gain disturbance rejection,proper parameters are chosen based on the system dissipative property. in order to verify the performance of the proposed controller,the matlab simulation results in two situations which are without and with the effects of environmental disturbances are demonstrated. © 2016 guoqing xia et al.
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آدرس
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college of automation,harbin engineering university,no. 145 nantong street,nangang district,harbin city,heilongjiang province, China, college of automation,harbin engineering university,no. 145 nantong street,nangang district,harbin city,heilongjiang province, China, college of automation,harbin engineering university,no. 145 nantong street,nangang district,harbin city,heilongjiang province, China, college of automation,harbin engineering university,no. 145 nantong street,nangang district,harbin city,heilongjiang province, China, college of automation,harbin engineering university,no. 145 nantong street,nangang district,harbin city,heilongjiang province, China
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Authors
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