A two-time scale control law based on singular perturbations used in rudder roll stabilization of ships

A two-time scale decomposition method is used to analyze and design the rudder roll stabilization (RRS) system of ships. In the surge-sway-roll-yaw ship motion system, roll motion is much faster than the others, the interactions between these fast and slow dynamics cause the non-minimum phase behavi...

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Bibliographic Details
Published in:Ocean engineering Vol. 88; pp. 488 - 498
Main Authors: Ren, Ru-Yi, Zou, Zao-Jian, Wang, Xue-Gang
Format: Journal Article
Language:English
Published: Kidlington Elsevier Ltd 15.09.2014
Elsevier
Subjects:
Applied sciences
Decomposition
Design engineering
Dynamical systems
Dynamics
Exact sciences and technology
Ground, air and sea transportation, marine construction
Marine construction
Non-minimum phase
Rolls
Rudder roll stabilization
Ships
Singular perturbation
Stabilization
Time scale decomposition
Non-minimum phase
Rudder roll stabilization
Singular perturbation
Time scale decomposition
Stability
Ship movement
Time scale
Numerical simulation
Ship
Roll
Rudder
Modeling
ISSN:0029-8018, 1873-5258
Online Access:Get full text
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Summary:A two-time scale decomposition method is used to analyze and design the rudder roll stabilization (RRS) system of ships. In the surge-sway-roll-yaw ship motion system, roll motion is much faster than the others, the interactions between these fast and slow dynamics cause the non-minimum phase behavior in roll dynamics, which is regarded as a major challenge in RRS control design. A small parameter ε is introduced to describe the fast roll dynamics by a singular ordinary differential equation. By using singular perturbation approaches, the system is then decomposed into two different time scale subsystems, a quasi-steady-state subsystem to describe the slow dynamics, and a boundary layer subsystem to describe the fast dynamics. Separate control strategy is used to stabilize each subsystem and the coupling effect between the subsystems is also considered. A Lyapunov function is constructed for the slow subsystem and robust analysis is made to evaluate the unmodeled dynamics. Simulation results show the effectiveness and robustness of this approach used in RRS system. •Time scale decomposition method is used to design a RRS control law.•Singular perturbation method is used to separate different time scale dynamics.•Separate control law is designed in different time scale subsystems.•Unmodeled dynamics is evaluated.•The linear model has a similar performance to the nonlinear model in RRS.
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ISSN:0029-8018
1873-5258
DOI:10.1016/j.oceaneng.2014.07.006