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Robust Stabilization of Ship Course Via Convex Optimization
Author(s) -
Yu Jiafeng,
Yan Zhibin,
Wang Jian,
Li Qinsheng
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.752
Subject(s) - control theory (sociology) , nonlinear system , lyapunov function , convex optimization , course (navigation) , controller (irrigation) , dual (grammatical number) , lyapunov redesign , robust control , stability (learning theory) , regular polygon , explained sum of squares , lyapunov stability , engineering , control engineering , computer science , mathematics , control (management) , physics , aerospace engineering , art , agronomy , geometry , literature , quantum mechanics , artificial intelligence , machine learning , biology
For ship course control, this paper presents a novel nonlinear controller design method using the sum of squares ( SOS ) technique combined with the dual of Lyapunov's stability theorem based on density function. Varying load condition and ship speed are seen as uncertainty, so the robust nonlinear controller is designed based on the suggested method. Simulations are performed by taking an ocean‐going ship model as example.