The steering of the ship motion: a Μ-synthesis approach

• Autorzy: Gierusz W.
• Języki publikacji: EN

Abstrakty

EN

The main goal of this task was synthesis of the multivariable regulator for precise steering of the real, training ship. However such object is strongly nonlinear and its characteristics depends on current work conditions. Therefore one of possible ways to build a proper ship's controller can be the robust control theory approach. It enables the introduction of the effects of the modeling errors, unknown nonlinearities, unawareness of the particular object phenomena into the controller synthesis process. First part of the paper describes the meaning of the weighting functions in the system, the conditions for computing of the H∞ controller and the parametric and nonparametric uncertainties. The next part presents the requirements which should be fulfilled by regulator to the robust one and it describes the way how to calculate the multivariable robust controller via D-K iteration. In the last part of the paper exemplary results of the steering process from simulation and the real-time illustrates the control quality of the obtained closed-loop system.

Słowa kluczowe

EN

training ship; multivariable systems; robust control; structured singular value; real-time steering

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2006
• Tom: Vol. 16, no. 1
• Strony: 87--109
• Opis fizyczny: Bibliogr. 25 poz., rys., tab.

Twórcy

autor

Gierusz W.

• Gdynia Maritime Unversity, 81-255 Gdynia, Morska 83,

Bibliografia

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