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Nonlinear Decoration Control Based on Perturbation of Ship Longitudinal Motion Model

Applied Ocean Research, ISSN: 0141-1187, Vol: 130, Page: 103412
2023
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Article Description

This paper proposes a nonlinear decoration control based on perturbation of the ship longitudinal Motion Model to reduce energy loss by achieving a good anti-pitch control effect. Even when the model is perturbed, it can continue to maintain a good robust performance and energy-saving effect for multiple-input multiple-output (MIMO) unstable systems. This proposed method uses the root locus shaping technology and the weighting matrix of mathematical tools to pull the root locus of the transfer function mathematical model with unstable zero-pole and zero-pole processes to the left half-plane of the teaching practice ship "YUKUN" of Dalian Maritime University used as the research object. The closed-loop gain shaping algorithm used to design the controller is then introduced, followed by the introduction of the first-order closed-loop gain shaping algorithm to design the robust controller with the shaped model. Finally, the nonlinear power function to decorate and improve the robust controller is presented. The simulation results show that when the model is perturbed, the nonlinear decoration control improves the control effects of the ship's heave and pitch, reduces control energy, and is critical for the ship's smooth and efficient navigation.

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