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Adaptive Robust Simultaneous Stabilization of Two Dynamic Positioning Vessels Based on a Port-Controlled Hamiltonian (PCH) Model

Author

Listed:
  • Pei Zhou

    (School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China)

  • Renming Yang

    (School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China)

  • Guangyuan Zhang

    (School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China)

  • Yaozhen Han

    (School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China)

Abstract

In this paper, the adaptive robust simultaneous stabilization problem of two ships is studied. Firstly, the water surface three-degree-of-freedom ship models are transformed into port-controlled Hamiltonian (PCH) models. Using a single output feedback controller, the two PCH systems are combined to generate an enhanced PCH system based on Hamiltonian structural attributes. Then, considering the situation with both external interference and structural parameter perturbation in the systems, an adaptive robust output feedback controller is designed to stabilize the two systems simultaneously. Finally, the effectiveness of the controller proposed in this paper is illustrated by a simulation example.

Suggested Citation

  • Pei Zhou & Renming Yang & Guangyuan Zhang & Yaozhen Han, 2019. "Adaptive Robust Simultaneous Stabilization of Two Dynamic Positioning Vessels Based on a Port-Controlled Hamiltonian (PCH) Model," Energies, MDPI, vol. 12(20), pages 1-14, October.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:20:p:3936-:d:277379
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    Cited by:

    1. Phatiphat Thounthong & Pongsiri Mungporn & Serge Pierfederici & Damien Guilbert & Nicu Bizon, 2020. "Adaptive Control of Fuel Cell Converter Based on a New Hamiltonian Energy Function for Stabilizing the DC Bus in DC Microgrid Applications," Mathematics, MDPI, vol. 8(11), pages 1-25, November.

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