Journal
INTERNATIONAL JOURNAL OF NAVAL ARCHITECTURE AND OCEAN ENGINEERING
Volume 11, Issue 1, Pages 606-623Publisher
SOC NAVAL ARCHITECTS KOREA
DOI: 10.1016/j.ijnaoe.2018.10.005
Keywords
Restricted waters; Path following; Wind effect; Guaranteed cost control; Robust H-infinity
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Funding
- National Natural Science Foundation of China [51479156]
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The path following problem of a ship sailing in restricted waters under wind effect is investigated based on Robust H(infinity )Guaranteed Cost Control (RHGCC). To design the controller, the ship maneuvering motion is modeled as a linear uncertain system with norm-bounded time-varying parametric uncertainty. To counteract the bank and wind effects, the integral of path error is augmented to the original system. Based on the extended linear uncertain system, sufficient conditions for existence of the RHGCC are given. To obtain an optimal robust H-infinity guaranteed cost control law, a convex optimization problem with Linear Matrix Inequality (LMI) constraints is formulated, which minimizes the guaranteed cost of the close-loop system and mitigates the effect of external disturbance on the performance output. Numerical simulations have confirmed the effectiveness and robustness of the proposed control strategy for the path following goal of a ship sailing in restricted waters under wind effect. (C) 2018 Society of Naval Architects of Korea. Production and hosting by Elsevier B.V.
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