This paper is concerned with the design of a state-space Hindefinite self-tuning surface ship auto-pilot. A state-space approach is employed for the on-line recursive identification wich lends itself readily to the Hindefinite problem formulation. To improve the robustness properties of the identification scheme, vector variable forgetting factor and UD factorisation of the covariance matrix are used. Two different methods for the controller design are described and conditioned are given that allow suspension of parameter estimation and controller updating. Both approaches are used to design controllers that are robust to changes in ship speed and sea-states. The benefits of an advanced control design and the adventages of self-tuning capablities are illustrated by means of nonlinear simulations.
State-space adaptive Hinfinite controller with application to a ship control system
Transactions of the Institute of Measurement and Control ; 19 , 3 ; 139-153
1997
15 Seiten, 28 Bilder, 23 Quellen
Article (Journal)
English
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