Prerequisites to the successful application of the Hinfinity control design technique to the marine dynamic positioning (DP) control problem are a realistic nominal model, relative bounds on modelling uncertainty, a set of frequency-dependent weighting functions to translate the control design specification into a control solution and a performance index to quantify the robustness. The authors propose procedures and algorithms to achieve these objectives. The Hinfinity robust control design technique is then used to calculate a robust controller which has superior properties to the conventional DP systems. The trade-off between track keeping and station keeping is undertaken via approriate weighting functions and a two-degree-of-freedom control structure is employed. The technique proposed shows that effective wave filtering can be obtained with guaranteed stability robustness. The advantage of the proposed control design technique is demonstrated using ship nonlinear simulations.
Hinfinity robust control design for dynamic ship positioning
Der robuste H<sub>infinity</sub>-Regelungsentwurf für das DP (Dynamic Positioning) von Schiffen
IEE Proceedings - Control Theory and Applications ; 144 , 2 ; 110-120
1997
11 Seiten, 27 Bilder, 15 Quellen
Aufsatz (Zeitschrift)
Englisch
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