- Title
- Energy-based nonlinear control of ship roll gyro-stabiliser with precession angle constraints
- Creator
- Donaire, Alejandro; Perez, Tristan
- Relation
- 9th IFAC Conference on Control Applications in Marine Systems. Proceedings of the 9th IFAC Conference on Control Applications in Marine Systems [presented in IFAC Proceedings Volumes, Vol. 46, No. 33] (Osaka, Japan 17-20 September, 2013) p. 328-333
- Publisher Link
- http://dx.doi.org/10.3182/20130918-4-JP-3022.00046
- Publisher
- Elsevier
- Resource Type
- conference paper
- Date
- 2013
- Description
- 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.
- Subject
- control law; ship roll gyro-stabiliser; port-Hamiltonian theory; closed loop
- Identifier
- http://hdl.handle.net/1959.13/1341979
- Identifier
- uon:28859
- Identifier
- ISBN:9783902823526
- Language
- eng
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