Robust stabilization of Ship Course by Convex Optimization
For ship course control, this paper presents a novel nonlinear controller design method using the sum of squares (SOS) technique combined with the dual of Lyapunov’s stability theorem based on density function. Varying load condition and ship speed are seen as uncertainty, and then the robust nonlinear controller is also designed based on the suggested method. Simulations are performed by taking ocean-going ship model as an example.
Convex optimization nonlinear system ship course convergence criterion
YU Jiafeng YAN Zhibin WANG Jian LI Qinsheng
Harbin Institute of Technology, Harbin 150001, P. R. China Jiangsu Maritime Institute , Nanjing 2111 Harbin Institute of Technology, Harbin 150001, P. R. China Jiangsu Maritime Institute , Nanjing 211170, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
695-699
2012-07-01(万方平台首次上网日期,不代表论文的发表时间)