On Adaptation of H∞ Control to the Ship Trajectory Tracking Problem

Abstract

In the paper the problem of ship trajectory tracking via H∞ optimal control theory methods is tackled. In the first part the general formulations of the theory are given including the main theorem. This theorem asserts that a given non-linear system is optimal in the sense of H∞ norm criterion if the corresponding harmonically linearized system is optimal in the same sense. In the second part, based on these preliminaries, an algorithm for optimal controller is given. The simulation results for the non-linear and the approximate (harmonically linearized) model are presented.