Using Euler-Lagrange analysis the state-space model of the slosh-container system is obtained. This state-space description undergoes approximate linearization with the use of Taylor series expansion and the computation of Jacobian matrices around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model, an H-infinity feedback controller is designed. The proposed control method stands for the solution of the nonlinear optimal control problem for the slosh-container system, under model uncertainties and external perturbations. To find the controller's feedback gains an algebraic Riccati equation is solved at each time-step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking of setpoints for all state variables of the slosh-container system, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis.


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    Titel :

    Nonlinear optimal control for the dynamics of the underactuated slosh-container system


    Beteiligte:
    Rigatos, G. (Autor:in) / Abbaszadeh, M. (Autor:in) / Hamida, M. A. (Autor:in)

    Erschienen in:

    Ships and Offshore Structures ; 17 , 9 ; 1901-1915


    Erscheinungsdatum :

    2022-09-02


    Format / Umfang :

    15 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




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