2011 Fiscal Year Final Research Report
Development of Formation Control Systems with Disturbance Rejection for Small Ships
| Project/Area Number |
21560459
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Shizuoka University |
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Principal Investigator |
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| Project Period (FY) |
2009 – 2011
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| 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 |
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| 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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