# H2/H∞ 설계사양을 만족하는 선박운동제어계 설계에 관한 연구

• Kang, Chang-Nam (Faculty of Mechanical System Engineering, Jeju National University) ;
• Kim, Young-Bok (Department of Mechanical System Engineering, Pukyong National University)
• 강창남 (제주대학교 기계시스템공학부) ;
• 김영복 (부경대학교 기계시스템공학과)
• Received : 2013.03.11
• Accepted : 2013.07.10
• Published : 2013.09.01

#### Abstract

In this paper, the authors propose a new approach to control problem of the marine vessels which are moored or controlled by actuators. The vessel control problem in the specified area is called a DPS (Dynamic Positioning System). The main objective of this paper is to obtain more useful control design method for DPS. In this problem, a complicate fact is control allocation which is a numerical method for distributing the control signal to the controlled system. For this, many results have been given and verified by other researchers using two individual processes. It means that the controller design and control allocation design process are carried out individually. In this paper, the authors give more sophisticated design solution on this issue. In which the controller design and control allocation problem are unified by a robust controller design problem. In other word, the stability of the closed-loop system, control performance and allocation problem are unified by an LMI (Linear Matrix Inequality) constraint based on $H_2/H_{\infty}$ mixed design framework. The usefulness of proposed approach is verified by simulation with a supply vessel model and found works well.

#### Acknowledgement

Supported by : 한국연구재단

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