Title :
Input and state constrained fuzzy controller design for ship steering systems with structured perturbations
Author :
Chang, Wen-Jer ; Wu, Sheng-Ming ; Chang, Wei
Author_Institution :
Dept. of Marine Eng., Nat. Taiwan Ocean Univ., Keelung, Taiwan
Abstract :
This paper considers the problem of fuzzy controller design for nonlinear perturbed ship steering systems. Since the model exhibits nonlinear interaction in three degrees of freedom (surge, sway and yaw) by means of main propellers aft of the ship. Therefore, this system can be replaced by Takagi-Sugeno (T-S) fuzzy model. The control purpose aimed at finding state feedback fuzzy controller such that the closed-loop system is quadratically stable and the control input energy is minimized subject to the state variance performance constraints.
Keywords :
closed loop systems; control system synthesis; fuzzy control; nonlinear control systems; position control; robust control; ships; state feedback; Takagi-Sugeno fuzzy model; closed-loop system; control input energy; fuzzy controller design; main propellers aft; nonlinear interaction; nonlinear perturbed ship steering systems; state feedback fuzzy controller; state variance performance constraints; structured perturbations; Control systems; Fuzzy control; Fuzzy systems; Marine vehicles; Nonlinear control systems; Propellers; State feedback; Steering systems; Surges; Takagi-Sugeno model;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225156
