Exact Feedback Linearization Using Integrated Control Of Rudder And Fin

In this paper, the nonlinear mathematic model for ships was linearized via exact feedback linearization, and then the robust controller based on closed-loop gain shaping algorithm controlled the model for ships.This paper was divided into two parts. Firstly, the nonlinear mathematic model for ships for single input single output system(SISO) was linearized via exact feedback linearization. Closed-loop gain shaping algorithm for SISO system was presented by constructing the transfer function matrix of the closed-loop system according to the knowledge a priori, which used four parameters with engineering sense such as bandwidth frequency, high frequency asymptote slope, the largest singular value and the peak value of the closed-loop frequency spectrum, and then the robust controller based on closed-loop gain shaping algorithm controlled the model for ships. In order to enhance the reliability of the simulation, the wind and wave model were added to the nonlinear system. Under the Simulink condition and did as many as possible researches about various sea states, the simulation results show that the controller based on closed-loop gain shaping has good performance to the nonlinear mathematic model.Secondly, the nonlinear mathematic model for ships for MIMO system was linearized via exact feedback linearization, and then the robust controller based on closed-loop gain shaping algorithm controlled the model for ships. The primary research result has been obtained.