sa ›› 2018, Vol. 23 ›› Issue (2): 209-217.doi: 10.1007/s12204-018-1931-z

• •    下一篇

Robust Fuzzy Sampled-Data Control for Dynamic Positioning Ships

ZHENG Minjie (郑敏杰), ZHOU Yujie (周玉洁), YANG Shenhua (杨神化)   

  1. (1. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Navigation College, Jimei University, Xiamen 361021, Fujian, China)
  • 出版日期:2018-04-01 发布日期:2018-06-19
  • 通讯作者: ZHENG Minjie (郑敏杰) E-mail:jimi_1205@163.com

Robust Fuzzy Sampled-Data Control for Dynamic Positioning Ships

ZHENG Minjie (郑敏杰), ZHOU Yujie (周玉洁), YANG Shenhua (杨神化)   

  1. (1. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Navigation College, Jimei University, Xiamen 361021, Fujian, China)
  • Online:2018-04-01 Published:2018-06-19
  • Contact: ZHENG Minjie (郑敏杰) E-mail:jimi_1205@163.com

摘要: A robust H∞ sampled-data stabilization problem for nonlinear dynamic positioning (DP) ships with Takagi-Sugeno (T-S) fuzzy models is discussed in this paper. Input delay approach is used to convert the sampleddata DP ship system to a fuzzy system with time-varying delay. Adequate conditions are derived to determine the system’s asymptotical stability and achieve H∞ performance via Lyapunov stability theorems. Then, the fuzzy sampled-data controller is obtained by analyzing the stabilization condition. Simulation result shows that the proposed method and the designed controller for a DP ship are effective so that the DP ship can maintain the desired position, heading and velocities in the existence of varying environment disturbances.

关键词: dynamic positioning (DP) ships, sampled-data control, Lyapunov-Krasovskii functional, Takagi- Sugeno (T-S) fuzzy models

Abstract: A robust H∞ sampled-data stabilization problem for nonlinear dynamic positioning (DP) ships with Takagi-Sugeno (T-S) fuzzy models is discussed in this paper. Input delay approach is used to convert the sampleddata DP ship system to a fuzzy system with time-varying delay. Adequate conditions are derived to determine the system’s asymptotical stability and achieve H∞ performance via Lyapunov stability theorems. Then, the fuzzy sampled-data controller is obtained by analyzing the stabilization condition. Simulation result shows that the proposed method and the designed controller for a DP ship are effective so that the DP ship can maintain the desired position, heading and velocities in the existence of varying environment disturbances.

Key words: dynamic positioning (DP) ships, sampled-data control, Lyapunov-Krasovskii functional, Takagi- Sugeno (T-S) fuzzy models

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