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Strathprints serves world leading Open Access research by the University of Strathclyde, including research by the Strathclyde Institute of Pharmacy and Biomedical Sciences (SIPBS), where research centres such as the Industrial Biotechnology Innovation Centre (IBioIC), the Cancer Research UK Formulation Unit, SeaBioTech and the Centre for Biophotonics are based.

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Robust dynamic ship positioning control system design and applications

Katebi, M.R. and Yamamoto, I. and Matsuura, M. and Grimble, M.J. and Hirayama, H. and Okamoto, N. (2001) Robust dynamic ship positioning control system design and applications. International Journal of Robust and Nonlinear Control, 11. pp. 1257-1284. ISSN 1049-8923

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Abstract

This paper describes the robust control system design for a ship dynamic positioning system. The control design is based on an approximate linear model derived from the nonlinear hydrodynamic equations governing the horizontal motions of the ship. The nonlinear models of the ship, seawaves, current, wind and thrusters are derived and simulated for control design verification. The H control design technique is employed to design the controller. The control problem is formulated in state-space form and the design specifications are translated into requirements on the weighting functions of the error signal and the thrusters input. A tuning procedure is proposed based on the wind and wave disturbances. The controller is initially tested on the nonlinear ship model and simulation results are presented to demonstrate the robustness of the H controller. Tank tests results are then presented to assess the controller performance.