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http://dx.doi.org/10.3795/KSME-A.2012.36.10.1171

Dynamic Positioning Control System Design for Surface Vessel: Observer Design Based on H∞ Control Approach  

Kim, Young-Bok (Dept. of Mechanical System Engineering, Pukyong Nat'l Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.36, no.10, 2012 , pp. 1171-1179 More about this Journal
Abstract
In this study, we consider a dynamic positioning system (DPS) design problem that can be extended to many application fields. Toward this end, tracking and positioning control problems are discussed. In particular, we design a tracking control system that incorporates an observer based on the 2-DOF servo system design approach in order to obtain the desired state information. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation (inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator that satisfies the weighted $H_{\infty}$ error bound is introduced. The condition for the existence of the estimator is denoted by a linear matrix inequality (LMI) that yields an optimized solution and the observer gain.
Keywords
Surface Vessel; Dynamic Positioning System(DPS); 2DOF; Servosystem; Actuator; Observer; Robust Control;
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