通信ネットワークを考慮したサンプル値全駆動船舶の安定化

抄録

In this paper stabilization of sampled-data fully-actuated ships with communication networks is considered by both state and output feedback controllers. Continuous-time stabilizing state feedback controllers and their emulation are designed on the basis of the continuous-time model of fully-actuated ships and then reduced-order discrete-time observers are designed based on the Euler model of the sampled-data model of fully actuated ships. Finally output feedback stabilizing controllers are obtained by combining the designed state feedback controllers and observers. Simulationm results are given to show the efficiency of the obtained controllers for sampled-data fully actuated ships with communication networks.