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http://dx.doi.org/10.5574/KSOE.2012.26.3.020

Control Allocation and Controller Design for Marine Vessel based on H∞ Control Approach  

Ji, Sang-Won (Department of Mechanical System Engineering, College of Engineering, Pukyoung National University)
Kim, Young-Bok (Department of Mechanical System Engineering, College of Engineering, Pukyoung National University)
Publication Information
Journal of Ocean Engineering and Technology / v.26, no.3, 2012 , pp. 20-25 More about this Journal
Abstract
In this paper, the authors propose a new approach to the control problem of marine vessels that are moored or controlled by actuators. The vessel control system is basically based on Dynamic Positioning System (DPS) technology. The main object of this paper is to obtain a more useful control design method for DPS. In this problem, the control allocation is a complication. For this problem, many results have been given and verified by other researchers using a two-step process, with the controller and control allocation design processes carried out individually. In this paper, the authors provide a more sophisticated design solution for this issue. The authors propose a new design method in which the controller design and control allocation problems are considered and solved simultaneously. In other words, the system stability, control performance, and allocation problem are unified by an LMI (linear matrix inequality) based on control theory. The usefulness of the proposed approach is verified by a simulation using a supply vessel model.
Keywords
Dynamic positioning system DPS; Marine vessel; Control allocation; Robust control; Stability; Control performance; Linear Matrix Inequality(LMI);
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