A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance Rejection
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...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/9275065 |
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| author | Guoqing Xia Jingjing Xue Ang Guo Caiyun Liu Xinghua Chen |
| author_facet | Guoqing Xia Jingjing Xue Ang Guo Caiyun Liu Xinghua Chen |
| author_sort | Guoqing Xia |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-dfe38b320ccf4f0b84d30b5eefb14227 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-dfe38b320ccf4f0b84d30b5eefb142272025-02-03T01:26:09ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/92750659275065A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance RejectionGuoqing Xia0Jingjing Xue1Ang Guo2Caiyun Liu3Xinghua Chen4College of Automation, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin City, Heilongjiang Province, ChinaCollege of Automation, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin City, Heilongjiang Province, ChinaCollege of Automation, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin City, Heilongjiang Province, ChinaCollege of Automation, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin City, Heilongjiang Province, ChinaCollege of Automation, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin City, Heilongjiang Province, ChinaIn 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.http://dx.doi.org/10.1155/2016/9275065 |
| spellingShingle | Guoqing Xia Jingjing Xue Ang Guo Caiyun Liu Xinghua Chen A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance Rejection Journal of Control Science and Engineering |
| title | A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance Rejection |
| title_full | A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance Rejection |
| title_fullStr | A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance Rejection |
| title_full_unstemmed | A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance Rejection |
| title_short | A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L2-Gain Disturbance Rejection |
| title_sort | nonlinear robust controller design for ship dynamic positioning based on l2 gain disturbance rejection |
| url | http://dx.doi.org/10.1155/2016/9275065 |
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