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Ship Dynamic Positioning system's Thruster Allocation is a nonlinear programming problem with nonlinear equality and inequality. In practice, thrusters will be unbalancing worn with allocated unbalancing thruster forces. And when one thruster failures, dynamic positioning capability is hard to be recovered under allocated unbalancing thruster forces. In this paper, performance of algorithm is improved...
In this paper, anti-roll robust control nonlinear ship system under stochastic beam sea is designed based on stochastic control Lyapunov function. In order to guarantee that system could get corresponding states to design controller, a reference model is built to offer predicting states. When there are errors between reference model and practical system, the bound of errors on parameters should be...
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