Energy-based nonlinear control of ship roll gyro-stabiliser with precession angle constraints

Donaire, Alejandro & Perez, Tristan (2014) Energy-based nonlinear control of ship roll gyro-stabiliser with precession angle constraints. In Hasegawa, Kazuhiko (Ed.) Proceedings of the 9th IFAC Conference on Control Applications in Marine Systems, The International Federation of Automatic Control (IFAC), Osaka Universsity, Osaka, Japan, pp. 328-333.

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Abstract

In this paper, we consider a passivity-based approach for the design of a control law of multiple ship-roll gyro-stabiliser units. We extend previous work on control of ship roll gyro-stabilisation by considering the problem within a nonlinear framework. In particular, we derive an energy-based model using the port-Hamiltonian theory and then design an active precession controller using passivity-based control interconnection and damping assignment. The design considers the possibility of having multiple gyro-stabiliser units, and the desired potential energy of the system (in closed loop) is chosen to behave like a barrier function, which allows us to enforce constraints on the precession angle of the gyros.

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ID Code: 70868
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
DOI: 10.3182/20130918-4-JP-3022.00046
ISBN: 9783902823526
ISSN: 1474-6670
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2014 IFAC
Deposited On: 01 May 2014 23:52
Last Modified: 07 May 2014 05:39

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