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Table Of Contents

Introduction
1.1 What is a Dynamic Positioning (DP) System?
1.1.1 Applications of DP Systems
1.1.2 Focus of this Research
1.2. An Overview of this Thesis 5
1.2 An Overview of this Thesis
1.3 Contributions of this Thesis
2.1 Motion of an Afloating Vessel
2.2. Mathematical Model Describing the Dynamics of an Afloating Vessel 9
2.2 Mathematical Model Describing the Dynamics of an Afloating Vessel
2.2.1 The Dynamical Equations of Motion of the Vessel
2.2.2 The Disturbances Model
2.2.3 The Measurement Model
2.2.4 Wave Filtering
2.3 Summary of the Mathematical Model
2.4 Properties of the Model
3.1 State Dependent Coefficient Parametrization
3.2. Local Asymptotic Stability Analysis 23
3.2 Local Asymptotic Stability Analysis
3.3 Global Asymptotic Stability Analysis
3.4 Exponential Boundedness and Global Asymptotic Stability
3.5 Periodicity and Global Asymptotic Stability
3.5.2 An LMI Based Approach for Global Asymptotic Stability
3.5.3 Infeasibility of the LMI Feasibility Problem
3.5.4 Further Analysis for Global Asymptotic Stability
3.6. Summary and Conclusions 43
3.6 Summary and Conclusions
State Dependent Riccati Equation based Control Design1
4.1 Optimal Control Problem and the SDARE
4.2. Control System Design for the DP Vessel 47
4.2 Control System Design for the DP Vessel
4.2.1 Nonlinear Regulation Problem for the LF Model
4.2.2 Nonlinear Regulation Problem for the Complete Model
4.3 Simulation Results
4.4 Conclusions
The Fourier Series Interpolation Method1
5.1 The Fourier Series Interpolation (FSI) Method
5.2 Performance Analysis
Port-Hamiltonian Formulation and Passivity Based Control Design1
6.1 Hamiltonian-Based Control
6.1.1 Port-Hamiltonian Modeling
6.1.2 The IDA-PBC Technique
6.2 Dynamic Positioning Problem
6.3. Ship Model in Port-Hamiltonian Framework 87
6.3 Ship Model in Port-Hamiltonian Framework
6.3.1 Ship Model in Cartesian Coordinates
6.3.2 Ship Model in Port-Hamiltonian Coordinates
6.4 Classical IDA-PBC Design
6.4.1 A Quadratic Energy Shaping
6.4.2 A Trigonometric Energy Shaping
6.5 Extended IDA-PBC Design
6.5.1 Motivating Problem
6.5.2 Target Extended System
6.5.3 A Quadratic Energy Shaping
6.5.4 A Trigonometric Energy Shaping
6.5.5 Analysis in Presence of Disturbances
6.6 Simulations
6.6.1 Simulation Results for the classical IDA-PBC design
6.6.2 Simulation Results in Presence of Disturbances
6.7 Conclusions
Conclusions and Recommendations for Future Work
Proof of asymptotic stability of (6.32) at (6.33)
Glossary
Bibliography
List of Abbreviations
Summary
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Published by Shah Muhammad

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Published by: Shah Muhammad on Feb 02, 2012
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09/25/2012

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