In this study, propose a new approach to mooring control problem of the marine vessels by actuators. The actuators are installed in the vessel to be positioned in the specified area. There are many types of actuator system in the real applications. The useful and widely applicable systems are thruster and mooring winch system. If we consider this problem in point of usefulness including cost, we can easily find out that the mooring winch system is more useful and popular to the real field than the thrust system except the special object. In this case, a complicate fact is the control allocation. For this problem, many results have been given and verified by other researchers with a process followed from two individual steps. It means that the controller and control allocation design process is carried out individually. In this paper, give more sophisticated design solution for this issue. The authors propose a new design method in which the controller design and control allocation problem is considered simultaneously. In other word, the system stability, control performance and allocation problem are unified by a LMI(linear matrix inequality) based on H∞ control theory.
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