Nonlinear optimal control for the dynamics of the underactuated slosh-container system. (2nd September 2022)

• Record Type: Journal Article
• Authors: Rigatos, G.; Abbaszadeh, M.; Hamida, M. A.
• Is Part Of: Ships and offshore structures. Volume 17:Number 9(2022)
• Page Start: 1901
• Page End: 1915
• Publication Date: 2022-09-02
• Subjects: Slosh-container system -- nonlinear H-infinity control -- nonlinear optimal control -- underactuated systems -- global stability; Ships -- Periodicals; Offshore structures -- Periodicals; Marine engineering -- Periodicals; Marine engineering -- Technological innovations -- Periodicals; Ocean engineering -- Periodicals; Ocean engineering -- Technological innovations -- Periodicals; 623.8
• DOI: 10.1080/17445302.2021.1951937
• Languages: English
• ISSNs: 1744-5302

Abstract

ABSTRACT: Using Euler-Lagrange analysis the state-space model of the slosh-container system is obtained. This state-space description undergoes approximate linearization with the use of Taylor series expansion and the computation of Jacobian matrices around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model, an H-infinity feedback controller is designed. The proposed control method stands for the solution of the nonlinear optimal control problem for the slosh-container system, under model uncertainties and external perturbations. To find the controller's feedback gains an algebraic Riccati equation is solved at each time-step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking of setpoints for all state variables of the slosh-container system, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis.