论文信息 - Robust Performance in Dynamic Positioning Systems

Robust Performance in Dynamic Positioning Systems

Abstract Robust performance of dynamic positioning of surface vessels is considered. The structured singular value, μ, is used as a robustness measure. A tight uncertainty description of the wave disturbance model and performance weight matrices based on physical insight is presented. Two controllers are analyzed: A decentralized PD controller with notch filters and an LQG based controller. Performance of the control systems is shown to be sensitive with respect to changes in the dominating wave frequency, ω0.

Olav Egeland | Erling Johannessen

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