Output feedback control for dynamic positioning system of a ship based on a high gain observer

被引：10

作者：

Du, Jia-Lu ^{[1
]}

Yang, Yang ^{[1
]}

Guo, Chen ^{[1
]}

Li, Guang-Qiang ^{[1
]}

机构：

[1] School of Information Science and Technology, Dalian Maritime University

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2013年 / 30卷 / 11期

关键词：

Backstepping; Dynamic positioning; Dynamic surface control; High gain observer; Output feedback;

D O I：

10.7641/CTA.2013.21153

中图分类号：

学科分类号：

摘要：

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.

引用

页码：1486 / 1491

页数：5

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