文章基本信息

标题：A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on -Gain Disturbance Rejection
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作者：Guoqing Xia ; Jingjing Xue ; Ang Guo 等
期刊名称：Journal of Control Science and Engineering
印刷版ISSN：1687-5249
电子版ISSN：1687-5257
出版年度：2016
卷号：2016
DOI：10.1155/2016/9275065
出版社：Hindawi Publishing Corporation
摘要：In ship motion control process, it is difficult to design ship controller due to the effects of environmental disturbances such as wind, waves, current, and unmodelled dynamics. In order to solve these problems, a nonlinear robust controller based on -gain disturbance rejection is proposed in this paper. To steer ships to the desired position, an error feedback control law on account of Lyapunov functions is designed. Then, to satisfy the -gain disturbance rejection, proper parameters are chosen based on the system dissipative property. In order to verify the performance of the proposed controller, the MATLAB simulation results in two situations which are without and with the effects of environmental disturbances are demonstrated.