Robust Fuzzy Sampled-Data Control for Dynamic Positioning Ships |
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Authors: | Minjie Zheng Yujie Zhou Shenhua Yang |
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Institution: | 1.School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai,China;2.Navigation College,Jimei University,Xiamen, Fujian,China |
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Abstract: | A robust H∞ sampled-data stabilization problem for nonlinear dynamic positioning (DP) ships with Takagi-Sugeno (T-S) fuzzy models is discussed in this paper. Input delay approach is used to convert the sampleddata DP ship system to a fuzzy system with time-varying delay. Adequate conditions are derived to determine the system’s asymptotical stability and achieve H∞ performance via Lyapunov stability theorems. Then, the fuzzy sampled-data controller is obtained by analyzing the stabilization condition. Simulation result shows that the proposed method and the designed controller for a DP ship are effective so that the DP ship can maintain the desired position, heading and velocities in the existence of varying environment disturbances. |
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