Optimal Stochastic Sliding Mode Control of Underway Replenishment in a Random Sea

Abstract

Motion control of underway replenishment operations is achieved through the use of sliding mode control with a Linear Quadratic Gaussian compensator design. External disturbances include first-order wave force and moment as well as slowly varying interaction forces and moments between the two ships. Feedback control is used to provide adequate stability of motions while feedforward control with disturbance estimation and compensation achieves the desired steady state accuracy. The results demonstrate that satisfactory path keeping during operations can be maintained for various ship proximity distances and environmental conditions.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1991
Accession Number
ADA247024

Entities

People

  • Hsu-sheng Fu

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Ground and Sea Platforms
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Accuracy
  • Computational Science
  • Computer Programs
  • Computer Simulations
  • Computers
  • Control Systems
  • Differential Equations
  • Engineering
  • Equations
  • Equations Of Motion
  • Equations Of State
  • Feedback
  • Lyapunov Functions
  • Mathematical Models
  • Models
  • Naval Architecture
  • Steady State

Readers

  • Calculus or Mathematical Analysis
  • Naval Architecture and Marine Engineering.
  • Robotics and Automation.