Title :
Robust control theory applied to ship maneuvering
Author :
Jeng Yih Juang ; Chang, B.C.
Author_Institution :
Merchant Marine Dept., Nat. Taiwan Ocean Univ., Keelung, Taiwan
Abstract :
Robust control theory is applied to a ship control problem with plant uncertainties caused by ship speed changes and with disturbances by wind-generated waves. Velocity gain scheduling is used to formulate uncertainties for the parameter variations of a ship model. Disturbance rejection as well as rudder-servo saturation limit is also considered in the performance requirements. In the illustrative ship control problem, μ-Synthesis robust controller provides much better robust stability and performance than conventional classical controllers
Keywords :
marine systems; robust control; μ-Synthesis robust controller; parameter variations; performance requirements; plant uncertainties; robust control theory; robust stability; rudder-servo saturation limit; ship control problem; ship maneuvering; velocity gain scheduling; wind-generated waves; Assembly; Control systems; Frequency; Fuels; Marine vehicles; Oceans; Optimal control; Robust control; Robust stability; Uncertainty;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.831244
