Dynamic positioning of ships based on robust fuzzy observer

In this study, the robust fuzzy observer-based control scheme for the dynamic positioning of marine vessels is presented. The proposed controller assumes that the environmental disturbances are unknown but bounded with known upper limit. First, the authors apply the Takagi–Sugeno fuzzy model to appr...

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Bibliographic Details
Published in:Journal of engineering (Stevenage, England) England), 2020-06, Vol.2020 (6), p.228-238
Main Authors: Ngongi, Werneld, Du, Jialu, Massami, Erick, Chang, Wen-Jer, Kassembe, Eliamin
Format: Article
Language:English
Subjects:
control system synthesis
disturbance attenuation technique
dynamic positioning
environmental disturbances
fuzzy control
known upper limit
linear matrix inequalities
model ship
nonlinear control systems
observers
optimal robust problem
Research Article
robust control
robust fuzzy observer-based control scheme
ship model
ships
Takagi–Sugeno fuzzy model
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Summary:In this study, the robust fuzzy observer-based control scheme for the dynamic positioning of marine vessels is presented. The proposed controller assumes that the environmental disturbances are unknown but bounded with known upper limit. First, the authors apply the Takagi–Sugeno fuzzy model to approximate the ship model. Using formulated fuzzy model, the robust fuzzy observer is developed to approximate the unknown states. Then, by employing optimal $H^\infty $H∞ disturbance attenuation technique, the effects of the environmental disturbances can be attenuated to least value. Finally, the linear matrix inequality technique is hired for solving the optimal robust problem. Model ship is used for simulation, and results are given to prove the validity of the presented controller.
ISSN:2051-3305
2051-3305
DOI:10.1049/joe.2018.5270