| Popis: |
The stabilization of ship roll using a family of switched controllers is considered in this paper. The system includes subsystems (modes) resulting from environment changes and different orientations and ship speeds. Controllers are designed to stabilise the entire system at all situations of a ship's trajectory. The system is a parallel multi-model control (PMMC) system, which may also be regarded as a switched system. A PMMC system is a hybrid dynamical system, consisting of a family of subsystems with a set of rules (decision-making process, high-level supervisor), orchestrating between them. The activation of the switching mechanism between controllers is dependent on the dynamic behaviour of the system. |
