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

Gierusz W.

Archives of Control Sciences

2006

Vol. 16, no. 1

87-109

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.

µ-Synthesis : an algebraic approach

Dlapa M., Prokop R.

Archives of Control Sciences

2004

Vol. 14, no. 1

59-71

In the paper the problem of the robust control of continuous-time systems via [my]-synthesis is investigated. The robust control design is formulated as a local minimalization of the peak of the structured singular value. The control parameters are derived throught polynomial Diophantine equations as a pole placement principle. the poles of the nominal feedback loop are the variables for minimization which was performed by a direct search method. The procedure provided the final controller of a simple PID structure, which was applied to a system with time delay as a perturbation and the results were compared with the D-K iteration, which gave a more complex solution.