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.
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.
Impact and interest:
Citation counts are sourced monthly from and citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
|Item Type:||Conference Paper|
|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|
Repository Staff Only: item control page