Output feedback control for dynamic positioning system of a ship based on a high gain observer
Output feedback control for dynamic positioning system of a ship based on a high gain observer
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发表时间：
2013
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通讯作者：
Du Jia-l
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作者：
Du Jia-l
针对船舶速度矢量未知的情况，将高增益观测器、动态面控制技术和矢量反推设计相结合，提出了船舶动力定位系统在外部扰动下的输出反馈控制。所提出的控制方案仅依赖于船位和航向的测量。由于引入了动态面控制，所设计的控制律更简单，更容易在工程实践中实现。利用李亚普诺夫函数证明了所提出的控制律能够使船舶的位置和航向逼近期望值，同时保证闭环系统所有信号的最终一致有界性。最后给出了一艘补给船的仿真结果，验证了该策略的有效性。
Because the velocity vector of the ship is not available, we propose output feedback control for dynamic positioning system of a ship with external disturbances by integrating the high gain observer, the dynamic surface control technique and the vectorial backstepping design. The proposed control scheme only relies on measurements of the ship position and heading. Because of the introduction of the dynamic surface control, the designed control law is simpler and more easily to be implemented in engineering practice. It is proved by means of Lyapunov function that the proposed control law can force the position and heading of the ship to approach the desired values while guaranteeing the uniform ultimate boundedness for all signals of the closed-loop dynamic positioning system. The simulation results on a supply ship are presented to demonstrate the effectiveness of the proposed strategy.