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STATE FEEDBACK ROBUST CONTROLLER FOR SHIP TRACK-KEEPING
Adam Lozowicki1, Robert Sutton2, Antonio Tiano3,4
1 Technical University of Koszalin, ul. Raclawicka 15-17, 75-620 Koszalin, Poland
2 Department of Mechanical and Marine Engineering, University of Plymouth,
Drakes Circus, Plymouth PL4 8AA, U.K
3 Department of Information and Systems, University of Pavia,
Via Ferrata 1, 27100 Pavia, Italy
4 Institute of Ship Automation, National Council of Researches,
Via De Marini 6, 16120 Genova, Italy
In the paper the problem of ship trajectory tracking with ε-accuracy is considered. A three-degrees-of-freedom ship model with full dynamic interaction between motions in roll, sway and yaw is assumed. The aim of the paper is to determine the robust control for ship trajectory tracking with ε-accuracy. Such control is obtained by means of a state feedback (called Tytus feedback) system characterised by an arbitrarily large gain. For this purpose a non-linear as well as linearised stable and unstable ship model is used. The simulation results confirm that a high precision performance can be achieved by the proposed control scheme.
Keywords: Tracking systems, MIMO, Marine systems, Feedback systems
Session slot T-Mo-M12: Ship Control I/Area code 8c : Marine Systems
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