Paper
Relaxed LMI Stability Conditions Based Fuzzy Control Design for Dynamic Positioning of Ships
- Authors:
- Werneld Ngongi; Jialu Du; Athuman Mohamed
- Abstract
- In this paper we propose a linear matrix inequality (LMI) based fuzzy control system design for dynamic positioning (DP) system of surface ships. The stability conditions satisfying decay rate using relaxed stability conditions and theory of parallel distributed compensation (PDC) are used. The nonlinear DP system is firstly transformed into Takagi-Sugeno (T-S) fuzzy model. Then the PDC is employed to design the fuzzy control system from the T-S fuzzy model. The stability analysis used in this paper is reduced to a problem of finding a common Lyapunov function for the set of LMIs. The convex optimization method involving LMIs is applied to find a common Lyapunov function and stable feedback gains which satisfy the decay rate. Then the resulting fuzzy control system is simulated using ship parameters provided and results are analysed. Simulation results obtained show the validity of the proposed fuzzy control technique.
- Keywords
- Takagi-Sugeno Fuzzy Model; Linear Matrix Inequality; Relaxed Stability Conditions; Decay Rate; Parallel Distributed Compensation
- StartPage
- 105
- EndPage
- 114
- Doi