Energy-based Nonlinear Control of Ship Roll Gyro-stabiliser with Precession Angle Constraints

Authors

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 gyrostabilisation 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.

Citation

Journal: IFAC Proceedings Volumes
Year: 2013
Volume: 46
Issue: 33
Pages: 328–333
Publisher: Elsevier BV
DOI: 10.3182/20130918-4-jp-3022.00046
Note: 9th IFAC Conference on Control Applications in Marine Systems

BibTeX

@article{Donaire_2013,
  title={{Energy-based Nonlinear Control of Ship Roll Gyro-stabiliser with Precession Angle Constraints}},
  volume={46},
  ISSN={1474-6670},
  DOI={10.3182/20130918-4-jp-3022.00046},
  number={33},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Donaire, Alejandro and Perez, Tristan},
  year={2013},
  pages={328--333}
}

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References

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