Design of concise robust control for longitudinal motion of YuKun


 With the rapid development of the shipping industry, the safety and comfort of ship transportation have been paid more and more attention, and the pitch and heave motion of ships are the most serious factors. In this paper, the longitudinal motion mathematical model of YuKun is established. By assigning the zero-pole to the left half-plane and using the properties of the symmetric matrix, the shaping weighting functions matrix is designed to stabilize the Multi-Input Multi-Output (MIMO) system of YuKun. Finally, a new concise robust controller is designed using the steady output of the shaped system. The simulation results show that under the control of the concise robust controller, the pitch angle and heave of YuKun decrease by 79.9% and 86.2%. Theoretical analysis and simulation results show that the concise robust controller has a good control effect on the longitudinal motion of YuKun, and is simple and easy to use, with clear engineering significance.