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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/10104

Title: 利用能量消散法做船舶航向保持強健性控制
On the Robust Course-Keeping Control of a Ship via Energy Disspation Approach
Authors: 莊政義;楊伯華;蘇健民
Contributors: NTOU:Department of Merchant Marine
國立臺灣海洋大學:商船學系
Keywords: 強健航向控制;能量消耗;閉環控制
Robust course keeping control;Energy dissipation;Close loop control
Date: 1998-08
Issue Date: 2011-06-28T07:28:15Z
Publisher: 行政院國家科學委員會
Abstract: 摘要:本計畫運用能量消散法將船舶航向保持問題轉換成非線性H/sub .inf./問題,為了要求解此問題,必須要求得Hamilton-Jacobi 方程式 (HJE)的解。我們提出了一個改良的疊代法則,來求解HJE,並用以構築非線性H/sub .inf./控制器。本報告附上閉迴路的船舶航向運動響應模擬圖,以顯示所設計之非線性H/sub .inf./控制器之性能及強健性。
Abstract:A ship course-keeping control problem is formulated as a nonlinear H/sub .inf./ control problem. In order to construct a nonlinear H/sub .inf./ controller to solve the problem, it is essential to find a solution for the Hamilton-Jacobi equation (HJE). A modified successive algorithm is proposed to obtain an approximate solution of the HJE and then a nonlinear H/sub .inf./controller is constructed. Simulations of the closed-loop ship motion responses are enclosed to illustrate the performance and robustness of the nonlinear H/sub .inf./ controller.
Relation: NSC88-2213-E019-008
URI: http://ntour.ntou.edu.tw/ir/handle/987654321/10104
Appears in Collections:[商船學系] 研究計畫
[運輸科學系] 研究計畫

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