Adaptive Robust Simultaneous Stabilization of Two Dynamic Positioning Vessels Based on a Port-Controlled Hamiltonian (PCH) Model

Autor:	Pei Zhou, Renming Yang, Guangyuan Zhang, Yaozhen Han
Jazyk:	angličtina
Rok vydání:	2019
Předmět:	dynamic positioning ship adaptive robust simultaneous stabilization port controlled hamilton model Technology
Zdroj:	Energies, Vol 12, Iss 20, p 3936 (2019)
Druh dokumentu:	article
ISSN:	1996-1073
DOI:	10.3390/en12203936
Popis:	In this paper, the adaptive robust simultaneous stabilization problem of two ships is studied. Firstly, the water surface three-degree-of-freedom ship models are transformed into port-controlled Hamiltonian (PCH) models. Using a single output feedback controller, the two PCH systems are combined to generate an enhanced PCH system based on Hamiltonian structural attributes. Then, considering the situation with both external interference and structural parameter perturbation in the systems, an adaptive robust output feedback controller is designed to stabilize the two systems simultaneously. Finally, the effectiveness of the controller proposed in this paper is illustrated by a simulation example.
Databáze:	Directory of Open Access Journals
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