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首页> 外文期刊>Mathematical Problems in Engineering >Robust Finite-Time H-Infinity Control with Transients for Dynamic Positioning Ship Subject to Input Delay
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Robust Finite-Time H-Infinity Control with Transients for Dynamic Positioning Ship Subject to Input Delay

机译：具有输入延迟的动态定位船的瞬态鲁棒有限时间H-∞控制

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摘要

This paper presents the problem of robust finite-time H infinity control with transients for ocean surface vessels equipped with dynamic positioning (DP) system in presence of input delay. The main objective of this work is to design a finite-tune H infinity state feedback controller, which ensures that all states of ship do not exceed a given threshold over a fixed time interval, with better robustness and transient performance subject to time-varying disturbance. Based on a novel augmented Lyapunov-Krasovskii-like function (LK LF) with triple integral terms and a method combining the Wirtinger inequality and reciprocally convex approach, a less conservative result is derived. In particular, an H infinity performance index with nonzero initial condition is introduced to attenuate the overconservatism caused by the assumption of zero initial condition and enhance the transient performance of ship subject to external disturbance. More precisely, the controller gain matrix for the DP system can be achieved by solving the linear matrix inequalities (LMIs), which can be easily facilitated by using some standard numerical packages. Finally, a numerical simulation for a ship is proposed to verify the effectiveness and less conservatism of the controller we designed.
机译：本文提出了具有瞬态的鲁棒有限时间H无限控制问题，该瞬变适用于配备有动态定位（DP）系统且存在输入延迟的海面船舶。这项工作的主要目的是设计一个有限调谐H无限状态反馈控制器，该控制器可确保船舶的所有状态在固定的时间间隔内均不超过给定的阈值，并具有更好的鲁棒性和瞬变性能，不受时变干扰的影响。 。基于具有三重积分项的新型增广Lyapunov-Krasovskii样函数（LK LF）以及结合Wirtinger不等式和双向凸方法的方法，得出的保守性较低。特别地，引入了具有非零初始条件的H无限性能指标，以减弱由零初始条件的假设所引起的过度保守，并增强了受外部干扰的船舶的瞬态性能。更准确地说，可以通过解决线性矩阵不等式（LMI）来获得DP系统的控制器增益矩阵，这可以通过使用一些标准的数值软件包轻松地实现。最后，提出了一种数值模拟船，以验证我们设计的控制器的有效性和较低的保守性。

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  • 来源
    《Mathematical Problems in Engineering》 |2018年第7期|2838749.1-2838749.17|共17页
  • 作者

    Lin Xiaogong; Liang Kun; Li Heng; Jiao Yuzhao; Nie Jun;

  • 作者单位

    Harbin Engn Univ, Coll Automat, Harbin, Heilongjiang, Peoples R China;

    Harbin Engn Univ, Coll Automat, Harbin, Heilongjiang, Peoples R China;

    Harbin Engn Univ, Coll Automat, Harbin, Heilongjiang, Peoples R China;

    Harbin Engn Univ, Coll Automat, Harbin, Heilongjiang, Peoples R China;

    Harbin Engn Univ, Coll Automat, Harbin, Heilongjiang, Peoples R China;

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