Nonlinear Controller Synthesis for Ship Course with Actuator using Sum-of-Squares Optimization

摘要：

　　For the stabilization of ship course with the actuator dynamics,this paper presents a nonlinear robust controller design method using the sum of squares(SOS)technique combined with the dual to Lyapunovs stability theorem.Uncertain parameters originate from varying load condition and ship speed in the ship course model.Dynamic feedback is involved in the presence of the actuator dynamics,and then the robust nonlinear controller is designed based on the suggested method.A cargo ship maneuvering scenario is simulated to illustrate the effectiveness of our approach.

关键词： Dynamic Feedback Density Functions Ship Course Robust Control Sum of Squares Decomposition

作者: YU Jiafeng Wang Jian Li Qinsheng Chen Lijun Wang Hongming

作者单位: Harbin Institute of Technology,Harbin 150001,P.R.China;Jiangsu Maritime Institute,Nanjing 211170,P.R Bohai University,Jinzhou 121001,P.R.China Shanghai University,Shanghai 200072,P.R.China Jiangsu Maritime Institute,Nanjing 211170,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 6060-6064

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）