Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Control System Design for Marine Vessel Satisfying Mixed H2/H∞ Performance Condition

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
Download PDF
⟨ Previous Next ⟩

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.

Keywords

References

  1. O. J. Sordalen, "Optimal thrust allocation for marine vessels," Control Engineering Practice, vol. 5, no. 9, pp. 1223-1231, 1997. https://doi.org/10.1016/S0967-0661(97)84361-4
  2. J. P. Strand, "Nonlinear position control system design for marine vessels," Ph.D. Thesis, Dept of Engineering Cybernetics, Norwegian University of Science and Technology, 1999.
  3. T. I. Fossen and S. P. Berge, "Nonlinear vectorial backstepping design for global exponential tracking of marine vessels in the presence of actuator dynamics," Proc. of 36th Conference on Decision and Control, pp. 4237-4242, 1999.
  4. T. I. Fossen, Marine Control System Guidance, Navigation, Rigs and Underwater Vehicle, Trondheim, Norway, Norwegian University of Science and Technology, 2002.
  5. M. Bodson, "Evaluation of optimization methods for control allocation," Journal of Guidance, Control, and Dynamics, vol. 25, no. 4, pp. 703-711, 2002. https://doi.org/10.2514/2.4937
  6. V. P. Bui and Y. B. Kim, "Development of constrained control allocation for ship berthing by using autonomous tugboats," International Journal of Control, Automation, and Systems, vol. 9, no. 6, pp. 1203-1208, 2011. https://doi.org/10.1007/s12555-011-0622-4
  7. V. P. Bui and Y. B. Kim, "Design of sliding mode controller for ship position control," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 9, pp. 869-874, 2011. https://doi.org/10.5302/J.ICROS.2011.17.9.869
  8. P. Gahinet, "Explicit controller formulas for LMI-based $H_{\infty}$ synthesis," Proc. of American Control Conference, pp. 2396-2400, 1994.
  9. P. Gahinet and P. Apkarian, "A linear matrix inequality approach to $H_{\infty}$ control," International Journal of Robust and Nonlinear Control, pp. 421-448, 1994.
  10. P. Gahinet, A. Nemirovski, A. J. Laub, and M. Chilali, LMI Control Toolbox, Math Works Inc, 1995.