Development of Formation Control Systems with Disturbance Rejection for Small Ships
Project/Area Number |
21560459
|
Research Category |
Grant-in-Aid for Scientific Research (C)
|
Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Control engineering
|
Research Institution | Shizuoka University |
Principal Investigator |
|
Project Period (FY) |
2009 – 2011
|
Project Status |
Completed (Fiscal Year 2011)
|
Budget Amount *help |
¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2011: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2009: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
|
Keywords | 制御システム / 船舶制御 / フォーメーション制御 / 非線形サンプル値制御 / 自動操船システム / 外乱抑制制御 / 自動繰船システム |
Research Abstract |
Formation control of sampled-data fully-actuated ships and straight-line path following control of sampled-data under-actuated ships are considered to develop computer-controlled formation control systems with disturbance rejection for small ships. The design methods of state feedback and output feedback controllers are given for both problems. Moreover, effectiveness of the proposed design methods is shown by simulation and experimental results.
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Report
(4 results)
Research Products
(40 results)