Abstract
The object of this research is to develop a towing rope tension control system. It is based on a process of identifying a family of plants, designing controller, conducting and evaluating experiments. Several rope dynamic models are obtained by changing the rope length to consider real application conditions. Among them, a representative model is selected and the others are considered as uncertain models which are considered in control system design. The authors design a μ-synthesis based two degree-of-freedom (2DOF) robust control system to cope with strong uncertainty and nonlinear property included in the real plant. An experimental comparison is made between the proposed control method and existing proportional–integral–derivative control (PID control) method and the results indicate that the proposed method is more efficient and useful than the conventional method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Kim, Y.B.: A positioning mooring system design for barge ship based on PID control approach. J. Korean Soc. Power Syst. Eng. 17(5), 94–99 (2013)
Nam, T.K., Jung, C.H., Kim, J.M., Choi, H.J.: A study on the calculation of towing force for the disabled ship and its experiments. J. Navig. Port Res. 38(5), 463–470 (2014)
Aamo, O.M., Fossen, T.I.: Finite element modelling of mooring lines. Math. Comput. Simul. 53(4–6), 415–422 (2000)
Yoon, H.K., Lee, H.S., Park, J.K., Kim, Y.G.: Dynamic modeling and simulation of a towing rope using multiple finite element method. J. Navig. Port Res. 36(5), 339–347 (2012)
Gu, D.W., Petkov, P.H., Konstantinov, M.M.: Robust Control Design with MATLAB. Springer, London (2013)
Balas, G., Chiang, R., Packard, A., Safonov, M.: Robust Control Toolbox User’s Guide. The Mathworks, Natick (2012)
Acknowledgement
This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Ministry of Education in Korea. (No. NRF-2015R1D1A1A09056885).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Tran, AM.D., Yoon, JI., Kim, YB. (2017). μ-Synthesis Robust Control on Tension Adjustment of Towing Rope System. In: Duy, V., Dao, T., Kim, S., Tien, N., Zelinka, I. (eds) AETA 2016: Recent Advances in Electrical Engineering and Related Sciences. AETA 2016. Lecture Notes in Electrical Engineering, vol 415. Springer, Cham. https://doi.org/10.1007/978-3-319-50904-4_9
Download citation
DOI: https://doi.org/10.1007/978-3-319-50904-4_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-50903-7
Online ISBN: 978-3-319-50904-4
eBook Packages: EngineeringEngineering (R0)