Application of H infinite control to ship steering system

Abstract

Because the general object of ship steering control system is singular, the state of rudder force and the state of disturbance are separated, and the generalized yaw output disturbance is obtained. Furthermore, singular system control problem of ship yaw and sway coupled system is transferred into nonsingular standard control problem. Then according to the linear fractional denoting algorithm of the rational function parameter perturbation system, the Linear Fractional Transform (LFT) model of yaw and sway coupled motion is solved, which is used to design the ship steering robust control system. For the ship steering system with the uncertain parameters, the robust control law is designed based on H^∞-synthesis. And the robust performance of the system is analyzed and the simulation validation is made. Simulation results show that the designed control system has excellent control effect and robustness.

Keywords

ship steering / H^∞ control / parameter perturbation / robustness