具有输入延时的锚泊自动定位系统保性能控制

Guaranteed cost control for automatic mooring positioning system with input delay

从半潜式平台定位系统的经济性及安全性角度出发,提出基于锚链切换控制的自动锚泊定位系统新方案.针对方案中具有输入延时及不确定性的特点,设计了带有输入延时的保性能控制器,以产生抵抗环境扰动所需的控制输入.基于LMI方法给出控制器存在的充分条件,通过求解相应的线性矩阵不等式得到系统的保性能控制律.仿真结果表明,所设计的控制器能有效解决锚泊自动定位系统的参数不确定性及输入延时问题,从而提高系统的精度和性能.

Aiming at the economy and security of the positioning system in semi-submersible, a new scheme based on mooring line switching control is presented. Considering the input delay and uncertainty, the guaranteed cost control with input delay is designed to calculate the control forces to resist disturbing forces. Sufficient conditions are established to assure the existence of the guaranteed cost controller in terms of LMI, and the guaranteed cost controller with input delay is obtained by solving the linear matrix inequality. The simulation result shows that the controller can solve the problems of parameter uncertainties and the input delay, so that it improves the accuracy and performance of the system.