We suggest a constrained H ∞ control scheme for gyroscopic marine vehicle stabilization systems with output and control constraints. The H ∞ performance is used to measure the roll angle reduction of the vessel relative to wave disturbances in regular beam seas. Time-domain constraints, representing requirements for precession angle of gyroscopes and for actuator saturation, are captured using the concept of reachable sets and state-space ellipsoids. A state feedback solution to the constrained H ∞ stabilization control problem is proposed in the framework of linear matrix inequality optimization and multiobjective control. This approach can potentially achieve the best possible vessel comfort with respect to roll motion by allowing constrained variables free as long as they remain within given bounds. Analysis and simulation results for roll dynamics of the vessel coupled with the gyroscopic actuator control system show possible improvements on roll motion stabilization while respecting time-domain hard constraints.

中文翻译：

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陀螺船舶稳定系统的约束H∞控制

我们为具有输出和控制约束的陀螺船用稳定系统提出了一种约束 H ∞ 控制方案。H ∞ 性能用于测量船舶在规则波束海中相对于波浪扰动的横摇角减小。时域约束，代表陀螺仪进​​动角和致动器饱和的要求，使用可达集和状态空间椭球的概念来捕获。在线性矩阵不等式优化和多目标控制的框架内，提出了约束H ∞ 稳定控制问题的状态反馈解决方案。通过允许约束变量自由，只要它们保持在给定的范围内，这种方法就可以潜在地实现关于横摇运动的最佳船舶舒适度。