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J. Ocean Eng. Technol. > Volume 26(3); 2012 > Article
J. Ocean Eng. Technol. 2012;26(3):20-25.    
DOI: https://doi.org/10.5574/KSOE.2012.26.3.020   

Control Allocation and Controller Design for Marine Vessel based on H
Ji Sang-Won,Kim Young-Bok
Department of Mechanical System Engineering College of Engineering Pukyoung National University,Department of Mechanical System Engineering College of Engineering Pukyoung National University
선박운동제어를 위한 제어력분배 및 제어기설계에 관한 연구
부경대학교 공과대학 기계시스템공학과,부경대학교 공과대학 기계시스템공학과
Copyright © 2012 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Key Words: Dynamic positioning system DPS, Marine vessel, Control allocation, Robust control, Stability, Control performance, Linear Matrix Inequality(LMI)
핵심용어: 선박, 제어력분배, 강인제어, 안정성, 제어성능, 선형행렬부등식
In this paper, the authors propose a new approach to the control problem of marine vessels that are moored or controlled by actuators. The vessel control system is basically based on Dynamic Positioning System (DPS) technology. The main object of this paper is to obtain a more useful control design method for DPS. In this problem, the control allocation is a complication. For this problem, many results have been given and verified by other researchers using a two-step process, with the controller and control allocation design processes carried out individually. In this paper, the authors provide a more sophisticated design solution for this issue. The authors propose a new design method in which the controller design and control allocation problems are considered and solved simultaneously. In other words, the system stability, control performance, and allocation problem are unified by an LMI (linear matrix inequality) based on control theory. The usefulness of the proposed approach is verified by a simulation using a supply vessel model.


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