Adaptive Robust Simultaneous Stabilization of Two Dynamic Positioning Vessels Based on a Port-Controlled Hamiltonian (PCH) Model

Pei Zhou, Renming Yang, Guangyuan Zhang and Yaozhen Han
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Pei Zhou: School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China
Renming Yang: School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China
Guangyuan Zhang: School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China
Yaozhen Han: School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China

Energies, 2019, vol. 12, issue 20, 1-14

Abstract: In this paper, the adaptive robust simultaneous stabilization problem of two ships is studied. Firstly, the water surface three-degree-of-freedom ship models are transformed into port-controlled Hamiltonian (PCH) models. Using a single output feedback controller, the two PCH systems are combined to generate an enhanced PCH system based on Hamiltonian structural attributes. Then, considering the situation with both external interference and structural parameter perturbation in the systems, an adaptive robust output feedback controller is designed to stabilize the two systems simultaneously. Finally, the effectiveness of the controller proposed in this paper is illustrated by a simulation example.

Keywords: dynamic positioning ship; adaptive robust simultaneous stabilization; port controlled Hamilton model (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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