Global robust and adaptive output feedback dynamic positioning of surface ships

被引：17
作者：
Do, K. D. [1 ]
机构：
[1] Univ Western Australia, Sch Mech Engn, Crawley, WA 6009, Australia
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.364136
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
a constructive method is presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances. Measurements of the ship's velocities are not required for feedback. The ship's parameters are not required to be known. An adaptive observer is first designed to estimate the ship's velocities and parameters. The control is then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to the desired values.
引用
收藏
页码：4271 / 4276
页数：6
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