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AUTHOR(S): Tseligorov N. A., Chubukin V. A., Tseligorova E. N.
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ABSTRACT The article describes the design process of a robust controller for course control of a marine vessel subject to the influence of sea waves using μ-synthesis. For this purpose, practical knowledge of the vessel is used to derive a linear design model with parametric uncertainties describing the vessel dynamics. Appropriate frequency weighting functions are selected to ensure the required performance characteristics at the controller design stage. The proposed model and then the weighting functions are used to develop a robust controller with a fixed structure, which allowed us to significantly reduce the order of the designed controller. The problem of low-frequency wind-wave filtering in the controller design and in the modeling process is also considered. The key contribution of the paper is that it provides system designers with a methodology for deriving uncertain linearized vessel models that fit naturally into the framework of μ-synthesis control theory. It describes, in a systematic way, various methods for the controller design process. In addition, the paper provides detailed information on the methods for analyzing robust systems and their modeling. |
KEYWORDS robust control, uncertain dynamic models, wave filtering, vessel heading control, water surface disturbance |
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Cite this paper Tseligorov N. A., Chubukin V. A., Tseligorova E. N.. (2025) Synthesis of a Robust Controller for Ship Course Control. International Journal of Control Systems and Robotics, 10, 1-6 |
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