| Innovation Summary | 第5-7页 |
| Abstract | 第7-8页 |
| INTRODUCTION | 第11-13页 |
| CHAPTER 1 THESIS BACKGROUND AND OVERVIEW | 第13-25页 |
| 1.1 CHAPTER INTRODUCTION | 第13页 |
| 1.2 THESIS BACKGROUND | 第13-14页 |
| 1.3 OVERVIEW OF DYNAMIC POSITIONING (DP) SYSTEM | 第14-21页 |
| 1.3.1 What is DP System? | 第19-20页 |
| 1.3.2 Application of DP Vessels | 第20-21页 |
| 1.4 OBJECTIVE OF THE THESIS | 第21页 |
| 1.5 MOTIVATION OF THE THESIS | 第21-23页 |
| 1.6 METHODOLOGY AND SCOPE OF THE THESIS | 第23页 |
| 1.7 OUTLINE OF THE THESIS | 第23-25页 |
| CHAPTER 2 MODELING AND CONTROL OF MARINE VESSELS | 第25-44页 |
| 2.1 CHAPTER INTRODUCTION | 第25页 |
| 2.2 MATHEMATICAL MODEL OF SEA VESSELS | 第25-33页 |
| 2.2.1 General Introduction and Coordinate Frames | 第25-26页 |
| 2.2.2 Kinematics of Marine Vessels | 第26-29页 |
| 2.2.3 Ship Dynamics | 第29-31页 |
| 2.2.4 3DOF Low Speed Model for Dynamic Positioning | 第31-33页 |
| 2.3 CONTROL METHODS FOR DYNAMIC POSITIONING SYSTEMS | 第33-44页 |
| 2.3.1 Linear Control Methods | 第33-34页 |
| 2.3.2 PD Controller | 第34页 |
| 2.3.3 PID Controller | 第34-35页 |
| 2.3.4 LQR Controller | 第35-36页 |
| 2.3.5 Nonlinear Control Methods | 第36-37页 |
| 2.3.6 Feedback Linearization | 第37页 |
| 2.3.7 Integrator Backstepping Technique | 第37-38页 |
| 2.3.8 Intelligent Control Approaches | 第38-39页 |
| 2.3.9 Fuzzy Logie control | 第39-40页 |
| 2.3.10 Types of Fuzzy Inference Methods | 第40-41页 |
| 2.3.11 Neural Network Control | 第41-42页 |
| 2.3.12 Auto-tuning Control Methods | 第42-43页 |
| 2.3.13 Adaptive Control Methods | 第43-44页 |
| CHAPTER 3 HIGH-GAIN OBSERVERS FOR DYNAMIC POSITIONING (DP) SYSTEM OF SHIPS | 第44-70页 |
| 3.1 CHAPTER INTRODUCTION | 第44-46页 |
| 3.1.1 Brief Introduction to High-gain observers | 第44-46页 |
| 3.2 HIGH-GAIN OBSERVER DESIGN AND STABILITY ANALYSIS | 第46-52页 |
| 3.2.1 Ship Mathematical Model | 第46-47页 |
| 3.2.2 Observer Design | 第47-48页 |
| 3.2.3 Stablity Analysis | 第48-49页 |
| 3.2.4 Simulation and Analysis | 第49-52页 |
| 3.3 OUTPUT FEEDBACK CONTROLLER DESIGN FOR DP SYSTEM OF SURFACE SHIPS | 第52-68页 |
| 3.3.1 An Overview of Backstepping Control Technique | 第53-55页 |
| 3.3.2 Controller Design and Stability Analysis | 第55-56页 |
| 3.3.3 Observer Design and Stability Analysis | 第56-58页 |
| 3.3.4 Output Feedback Controller Design | 第58-61页 |
| 3.3.5 Controller Design via Backstepping | 第61-64页 |
| 3.3.6 Simulation and Analysis | 第64-68页 |
| 3.4 CHAPTER CONCLUSION | 第68-70页 |
| CHAPTER 4 FUZZY CONTROL DESIGN BASED ON RELAXED LMI STABILITY CONDITIONS FORDYNAMIC POSITIONING OF SHIPS | 第70-87页 |
| 4.1 CHAPTER INTRODUCTION | 第70页 |
| 4.2 BRIEI-OVERVIEW OF LINEAR MATRIX INEQUALITY (LMI) AND PARALLEL DISTRIBUTED COMPENSATION (PDC) THEORIES | 第70-73页 |
| 4.2.1 Linear Matrix Inequality (LMI) | 第70页 |
| 4.2.2 Representation of LMIs | 第70-71页 |
| 4.2.3 LMI problems Classification | 第71-72页 |
| 4.2.4 Solving LMI Problem with MATLAB | 第72页 |
| 4.2.5 Parallel Distributed Compensation (PDC) | 第72-73页 |
| 4.3 FUZZY CONTROLLER DESIGN | 第73-85页 |
| 4.3.1 Representation of T-S Fuzzy Model | 第74页 |
| 4.3.2 T-S fuzzy Modeling for DP Model | 第74-77页 |
| 4.3.3 Stability Analysis | 第77-80页 |
| 4.3.4 Simulation and Analysis | 第80-85页 |
| 4.4 CHAPTER CONCLUSION | 第85-87页 |
| CHAPTER 5 ROBUST FUZZY CONTROLLER DESIGN FOR DYNAMIC POSITIONING SYSTEM OF SHIPS | 第87-106页 |
| 5.1 CHAPTER INTRODUCTION | 第87-88页 |
| 5.1.1 Brief overview of optimal H~∞ Control Technique | 第87-88页 |
| 5.2 FUZZY CONTROLLER DESIGN VIA H~∞ CONTROL TECHNIQUE | 第88-105页 |
| 5.2.1 Takagi-Sugeno (T-S) Fuzzy Modeling of the Nonlinear DP Model | 第89-94页 |
| 5.2.2 Controller Design via Optimal H~∞ Disturbance Attenuation | 第94-99页 |
| 5.2.3 Simulation Results | 第99-105页 |
| 5.3 CHAPTER CONCLUSION | 第105-106页 |
| CHAPTER 6 ROBUST FUZZY OBSERVER BASED CONTROLLER DESIGN FOR DYNAMICPOSITIONING OF SURFACE SHIPS | 第106-122页 |
| 6.1 CHAPTER INTRODUCTION | 第106页 |
| 6.2 TAKAGI-SUGENO (T-S) FUZZY MODELING OF NONLINEAR DP MODEL | 第106-107页 |
| 6.3 FUZZY OBSERVER DESIGN BASED ON H~∞ CONTROL TECHNIQUE | 第107-116页 |
| 6.4 SIMULATION AND ANALYSIS | 第116-121页 |
| 6.5 CHAPTER CONCLUSION | 第121-122页 |
| CHAPTER 7 CONCLUSION AND RECOMMENDATIONS FOR FUTURE WORK | 第122-125页 |
| REFERENCES | 第125-133页 |
| ACKNOWLEDGEMENT | 第133-135页 |
| PUBLISHED PAPERS DURING THE ACADEMIC CASE STUDY FOR A DEGREE | 第135-136页 |
| ABOUT THE AUTHOR | 第136页 |
