Energy-Based Nonlinear Control of Ship Roll Gyro-Stabiliser with Precession Angle Constraints
Control Applications in Marine Systems, Volume # 9 | Part# 1
Donaire, Alejandro; Perez, Tristan
Digital Object Identifier (DOI)
Ship roll stabilization techniques; Nonlinear and optimal control in marine systems
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 gyro-stabilisation 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.
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