Observer-Based Control for Interval Delayed Ship Steering System with Time-Varying Parameters

• Published in: International Conference on Control, Automation and Robotics : proceedings pp. 340 - 345
• Main Authors: Ku, Cheung-Chieh, Chen, Guan-Wei
• Format: Conference Proceeding
• Language: English
• Published: IEEE 18.04.2025
• Subjects: Delays; H; LPV system; Marine vehicles; observer-based control; Observers; projection lemma; Reciprocal convex inequality; Robots; Stability analysis; Steering systems; stochastic; Stochastic processes; Stochastic systems; Time-varying systems; Uncertainty
• ISSN: 2251-2454
• DOI: 10.1109/ICCAR64901.2025.11072943

This paper is to focus on the discussion of the complex control problem of ship steering system with uncertainty, unmeasurable states, external disturbance and interval delays. Applying LPV modelling approach, the considered system is described via a set of linear time-invarying systems and a specific weighting function. Furthermore, an observer-based control method is developed to solve the control problem of the considered system. For the stability analysis, an extended reciprocal convex lemma and Lyapunov-Krasovskii Function are applied to derive some less conservative conditions. Also, an extended projection lemma is proposed to convert bilinear problem to Linear Matrix Inequality (LMI) form. Through solving the LMI conditions, the observer-based controller can be designed in only one step procedure. Finally, application of ship steering system is provided to demonstrate the effectiveness and applicability of the proposed methods.