A Robust Design Based On The Passivity Theory For The Linear-Course Trajectory Control Of Ships

Since the 1970s, Dissipative Systems Theory has been playing an important role in the study of the system stability. For the different supply rates, the theory of dissipative systems has different emphases. We consider Passivity Systems as a special Dissipative Systems, in which supply rate is represented by the product of the system input and output. Passivity Theory primarily analyzes stability of nonlinear systems, whose stable result is obtained from the stable character of passivity systems. In fact, the stabilization Function based on Lyapunov function can also be explained on the perspective of passivity. During stabling the system, structuring the Lyapunov function can be transformed into structuring the storage function.With the increasing in maritime transport, ships are trending to large-scale and high-speed, which lead to the sea traffic density increasing and make the safety of navigation increasingly under threat. At the same time, in order to save fuel consumption, improve the operation of economic efficiency, reduce the intensity of the operation of the operator, save labor, people have begun to explore the ship's high-tech research and development. It can be said that this has become an important research topic of the world's major shipping countries at present. A basic requirement of High-tech ships is the ship sailing automation, including the ship's trajectory control automation. In this paper, the idea of passivity is introduced into the straight-line tracking control system for ships, and by using Backstepping method, a globally robust state feedback controller is developed, which makes the closing-loop system is both passivity and asymptotically stable. Furthermore, by using MATLAB, the simulation results are presented to validate the effectiveness and transient performance of the proposed controller.