| A Direct Compensative Robust Optimal Control （DCROC） Law for Ship Straight-line Track-keeping |
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| 引用本文： | 李文魁,田蔚风,周岗,陈永冰,周永余.A Direct Compensative Robust Optimal Control （DCROC） Law for Ship Straight-line Track-keeping[J].上海交通大学学报(英文版),2007,12(3):364-369. |
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| 作者姓名： | 李文魁 田蔚风 周岗 陈永冰 周永余 |
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| 作者单位： | [1]Dept．ofInstrumentScience8．Eng．,ShanghaiJiaotongUniv．．Shanghai200240．China [2]SchoolofElectricalandInformationEng．,NavyEng．Univ．,Wuhan430033．China |
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| 基金项目： | 海军工程大学校科研和教改项目 |
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| 摘 要： | 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.
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| 关 键 词： | 舵 轨道补偿技术 最佳控制 船舶工程 |
A Direct Compensative Robust Optimal Control (DCROC) Law for Ship Straight-line Track-keeping |
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| LI Wen-kui,TIAN Wei-feng,ZHOU Gang,CHEN Yong-bing,ZHOU Yong-yu.A Direct Compensative Robust Optimal Control (DCROC) Law for Ship Straight-line Track-keeping[J].Journal of Shanghai Jiaotong university,2007,12(3):364-369. |
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| Authors: | LI Wen-kui TIAN Wei-feng ZHOU Gang CHEN Yong-bing ZHOU Yong-yu |
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| Abstract: | 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. |
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| Keywords: | ship track-keeping direct compensative robust optimal control (DCROC) Lyapunov stability |
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