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2023 Journal Impact Factor - 0.7
2023 CiteScore - 1.4
ISSN 2083-6473
ISSN 2083-6481 (electronic version)
Editor-in-Chief
Associate Editor
Prof. Tomasz Neumann
Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
e-mail transnav@umg.edu.pl
The H2 and Robust Hinf Regulators Applied to Multivariable Ship Steering
1 Gdynia Maritime University, Gdynia, Poland
ABSTRACT: The main goal of this task was a calculation of the two multivariable regulators for precise steering of a real, floating, training ship. The first one minimized the H2 norm of the closed-loop system. The second one was related to the Hinf norm. The robust control approach was applied in this controller with the usage of the structured singular value concept. Both controllers are described in the first part of the paper. Details of the training vessel and its simulation model then are presented. The state model of the control object obtained via identification process is described in the next section. This model with matrices weighting functions was the base for creation of ?the augmented state model? for the open-loop system. The calculation results of the multivariable controllers is also shown in this section. Several simulations were performed in order to verify the control quality of both regulators. Exemplary results are presented at the end of this paper together with final remarks.
KEYWORDS: Dynamic Ship Positioning (DSP), Multivariable Ship Steering, Ship Steering, Multivariable Regulators, Simulation Model, Open-Loop System, Ship Handling Research and Training Centre at Ilawa, Poland, Manoeuvring
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Citation note:
Gierusz W.: The H2 and Robust Hinf Regulators Applied to Multivariable Ship Steering. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 3, No. 4, pp. 431-440, 2009
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