GLOBAL TRACKING CONTROL OF UNDERACTUATED SURFACE SHIPS IN BODY FRAME

Transcription

1 Copigh IFAC h Tinnial Wol Congss Balona Spain GLOBAL TRACKING CONTROL OF UNDERACTUATED SURFACE SHIPS IN BODY FRAME KD Do J Pan an ZP Jiang Dpan o Mhanial an Maials Engining Th Unisi o Wsn Asalia Nlans WA 97 Asalia Dpan o Elial an Cop Engining Polhni Unisi Booln NY USA Absa: A onoll is lop o naa sa ships wih onl sg o an aw on aailabl o globall a a n ajo gna b a siabl ial ship in a a aah o h ship bo Th onol lopn is bas on Lapno s i ho an baspping hniq an ilizs sal popis o ship nais an hi inonn s Nial silaions alia h popos onoll IFAC Kwos: naa ship aing nonlina onol Lapno nion INTRODUCTION This pap onnas on h global aing onol o sa ships wih onl swa o an aw on aailabl Th s is ins in signing a onoll sh ha i as h posiion swa an sg an oinaion aw angl o sa ships a h n posiion an oinaion gna b a ial n ship Sin h ins sa ships ha w nbs o aaos han gs o o o b onoll an h onsain on h alaion Rhanogl 997 Psn 99 an Soaln an Englan 99 is noningabl h a a lass o naa sss wih noningabl nais Gohan 99 s a oninos i inaian sa ba onoll o ahi global ponnial posiion aing n an asspion ha h n sg loi is alwas posii Unonal h oinaion o h ship was no onoll Psn an Nijij 998 poi a high gain bas siglobal aing sl Bhal al sign a global a bas on a ansoaion o h ship aing ss ino h so-all onnin o Dion al Th nais o los loop ss is inas This pap poposs a onsi po o lop a onoll o a sign an naa sa ship wih onl sg o an aw on aailabl a a n ajo gna b a ial ship Th onol lopn a h loi ll was bas on h Lapno s i ho an iliz sal na popis o h naa ship nais Bas h baspping hniq Ksi al 99 h onols a h o an on ll wa sign Th popos onoll gaans h global aspoi an loal ponnial ongn o h aing o o h oigin In aiion h n sg an swa loiis a no qi o b gna b h ial ship Silaions on a onohll ship wih h lngh o an ass o 8 g illsa h inss o h popos onoll PROBLEM FORMULATION Th naa ship oing in sg swa an aw an b sib as

2 os sin sin os z z z z z z z wh an a h sg isplan swa isplan an aw angl in h ah i a an no sg loi swa loi aw loi Th posii onsan s jj an jj j no h honai aping an ship inia inling a ass in sg swa an aw Th aailabl onols a h sg o an h aw on Th n ajo is gna b os sin sin os wh all h aiabls ha siila aning as in ss o h ial n ship Th global ansoaion o ooinas Psn 99 z z z os sin sin os an a siila ansoaion o h n ial ship w s o anso ss ino z z z z z an a siila s o inial qaions o h ial ship B inoing h ailia aing aiabls zi zi zi i an h ailia aing o nais a win as Thn h pobl o aing onol was on ino ha o sabilizing a h oigin Th is opl sa aing onoll was lop b Psn an Nijij 998 an il h global paial sabili Bas on h wo in Jiang an Nijij 999 Psn an Nijij popos a onoll ha si-globall aspoiall sabiliz A global aing sl bas on a asa appoah was popos in Lb Th sabili analsis was bas on ho o h lina i aing sss A n sl on global aing onol o h naa sa ship bas on Lapno s i ho an passii appoah was popos b Jiang How h qaai nion o sign h onol a h loi ll was oia o ha o h sana hain o ss Jiang an Nijij 999 I is iil o in h onol gains This pap poposs a ho o sign a onoll sh ha i as h posiion an oinaion an o h ship ol globall ponniall a a n ajo gna a siabl ial ship as os sin sin os W ass ha h n ajo an an a bon an iniabl on an saisis: Asspion Th iss a onsan sh ha o an pai o 7 W ino h posiion os an in a a aah o h ship bo This sls in h o ooinas as os sin sin os 8

3 W also in h loi aing os as an Taing h is i iai boh sis o 8 along h solion o an il sin os sin os 9 Hn in h sql sabilizaion o h ss 9 is ass CONTROL DESIGN Sp Fo onnin w wi h o nais in an spaal as I is saighowa o sign a onol wiho anling h sl aping as wh an a posii onsans an Ta h Lapno nion whos h is i iai along h solion o an saisis ρ wh in ρ Fo i is la ha h ss is globall ponniall sabl a h oigin i o an pai o iniial oniions an an iniial i insan h solion iss o ah an saisis ζ ζ o so onsans an ζ ζ Sp Th onol is sign o globall ponniall sabiliz 9 wih h onol gin in in wo sb-sps Fo onnin w wi h ss 9 wiho whih is ala sign o b globall ponniall sabl a h oigin as sin os sin os Sb-sp W sa b ining h ial onol o as Thn an b win as sin os sin os To sign ha sabilizs h is h qaions o w onsi h ollowing qaai nion 7 wh an a posii onsans o b hosn la Taing h is i iai o 7 along h solion o a so aniplaion ils sin os sin os 8 W now sign h ial loi onol as 9 wh an a posii onsans o b sl la Sbsiing 9 ino 8 sls in

4 " sin os sin os B hoosing an noing ha an b win as Sb-sp W a h qaai nion whos iai saisis sin os sin os I is now saighowa o sign h onol wiho anling h aping as sin os sin os 7 wh is a posii onsan Sbsiing 7 ino ils 8 Fo h abo onol sign po w qi 9 All h onsans i i in 9 a op in o as ollows Tho Un h asspions ha h n ajo is bon h n loiis an an hi is i iais a bon an saisis asspion h aing onol pobl pos in sion is sol b h onols an 7 In paila ling [ ] T X h iss a K- nion an a onsan sh ha o an

5 an an R X h solion X iss o ah an saisis X X Poo W is show ha h iss a posii i aing oiin sh ha To sipli psnaion in h poo o b ining hn 8 an b win as wh an a so posii onsans W now show ha h is an sh ha R R M : B opning h sqa ba a so aniplaion an b win as : M I is la ha M whn 7 o qialnl in 8 Tho w an alwas pi an sh ha 8 is saisi Wih his hoi o an M w an wi as 9 whih ils wih / in Fo asspion h iss a posii onsan sh ha N w show ha h iss a i aing o al signal R ha ponniall ongs o zo sh ha in in saisis wih wh an a lass K-nions an an a posii onsans B noing ha os / sin / li os / li sin / i is saighowa o show ha saisis whih is h saisi B noing o ha an ponniall ong o zo an ha an a bon b asspion hn ollows o ail Sbsiing ino ils W now onsi h ollowing inial qaion 7 whos solion a o an saisis s s s 8 whih o also saisis / 9 I an b sn ha h iss a posii onsan in an a posii onsan sh ha Fo an 9 h is a lass K-nion an a posii onsan sh ha

6 Fo an b opaison pinipl Khalil 99 ollows ail SIMULATIONS This sion alias h onol laws an 7 b silaing h on a onohll ship wih h lngh o ass o 8 g an oh paas alla b sing Main Ship Moion poga sion 8 as g g g gs 97 gs 8 g s In h silaion bas on h onol paas a an an op as 7 Th iniial oniions a hosn as [ ] [ as s as ] Th n ajo is gna b a ial ship wih h iniial oniions as - [ ] [ a s ] an h n loiis as - - s an as This hoi ans ha h n ajo is a il wih a ais o Th aing ajo in plan is plo in Fig I an b sn ha h aing os aspoiall ong o zo as pon in Tho D o spa liiaion opaison wih oh aing onolls aailabl o naa ships is oi - CONCLUSIONS Th onsi appoah has bn popos in his pap o lop a onoll o a sign an naa sa ship wih onl sg o an aw on aailabl a a n ajo gna b a ial ship in h ship bo a Th popos onoll gaans h global ponnial an loal ponnial in sns o Lapno ongn o h aing o o h oigin Silaion sls alia h inss o o popos onoll Fig Taing ajo in plan : soli : ash REFERENCES Bhal A DM Dawson WE Dion an Y Fang Taing an glaion onol o an naa sa ssl wih noningabl nais Poings o 9 h IEEE onn on ision an onol pp - Do KD ZP Jiang an JPan Robs global sabilizaion o naa ships on a lina os To appa in Aian onol onn Fossn TI 99 Gian an onol o oan hils Chihs: John Wil & Son Gohan JM TI Fossn an SP Bg 998 Nonlina aapi baspping signs o aing onol o ships Innaional jonal o aapi an signal possing ol pp 9-7 Jiang ZP Global aing onoll sign o naa ships To appa in h IEEE onn on ision an onol Khalil HK 99 Nonlina sss Maillian pblishing opan Ksi M I Kannllaopolos an P Koooi 99 Nonlina an aapi onol sign Nw Yo: Wil Lb E Taing onol o nonlina hanial sss PhD hsis Unisi o Twn Rhanogl M997 Eponnial sabilizaion o an naa aonoos sa ssl Aoaia ol no pp 9- Psn KY 99 Eponnial sabilizaion o naa hils PhD hsis Nowgian Unisi o Sin Thnolog Psn KY an H Nijij 998 Sa aing onol o an naa sa ssl Poings o 7 h IEEE onn on ision an onol pp - Soaln OJ an O Englan 99 Eponnial sabilizaion o nonholonoi hain sss IEEE ansaion on aoai onol ol pp -9