earticle

영어

In this paper, the authors propose a approach to control problem of the marine vessels which are controlled by actuators. The vessel control problem in the specified area is called a Dynamic Positioning System(DPS). The main objective of this paper is to obtain more useful control design method for DPS. In this problem, a complicate fact is control allocation which is a numerical method for distributing the control signal to the controlled system. For this, many results have been given and verified by other researchers using two individual processes. It means that the controller design and control allocation design process are carried out individually. In this paper, the authors give more sophisticated design solution on this issue. In which the controller design and control allocation problem are unified by a robust controller design problem and Fuzzy methods. The usefulness of proposed approach is verified by simulation with a supply vessel model and found works well.