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A Direct Compensative Robust Optimal Control (DCROC) Law for Ship Straight-line track-keeping

Journal of Shanghai Jiaotong university(Science) 2007年第3期12卷 364-369页

作者：李文魁田蔚风周岗陈永冰周永余 Dept. of Instrument Science & Eng. Shanghai Jiaotong Univ. School of Electrical and Information Eng. Navy Eng. Univ.

A linear quadratic optimal direct track-keeping control law was proposed based on first-order Nomoto nominal model. Furthermore, based on Lyapunov stabilized theory, considering parametric uncertainty from variations of ship speed and disturbances uncertain from wind, wave and sea current, a direct compensative robust optimal control (DCROC) law was developed. It can guarantee closed-loop system globally and uniformly converge to a remained set. High accuracy and robustness were achieved. By introducing some nonlinear blocks, closed-loop system achieves global and uniform asymptotical stableness. Numerical simulations on a Mariner Class ship are presented to validate the control law.

关键词： ship track-keeping direct compensative robust optimal control (DCROC) Lyapunov stability

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Design and Stability Analysis of Fuzzy Switched PID Controller for Ship track-keeping

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Journal of Transportation Technologies 2012年第4期2卷 334-338页

作者： Baozhu Jia Hui Cao Jie Ma Marine Engineering College Dalian Maritime University Dalian China State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University Shanghai China

The fuzzy switched PID controller which combines fuzzy PD and conventional PI controller is proposed for ship track-keeping autopilot In this paper. By using rudder angle, the whole voyage is divided into two operating regimes which named transient operating regime and steady operating regime respectively. The fuzzy PD controller is employed in transient operating regime for increasing response, reducing overshoot and shorting transition time. And conventional PI controller is used to improve the stable accuracy in steady operating regime. The global controller is achieved by fuzzy blending of all local controllers. Routh stability criterion is utilized to obtain the stability condition of closed-loop system. The simulation results show the effectiveness of proposed method.

关键词： Ship Control Fuzzy Switched PID track-keeping Fuzzy Operating Regime Stability Condition

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