Modified observer backstepping controller for a dynamic positioning system

被引：22
|
作者：
Morishita, H. M. [1 ]
Souza, C. E. S. [1 ]
机构：
[1] Univ Sao Paulo, Dept Naval Architecture & Ocean Engn, Sao Paulo, Brazil
来源：
CONTROL ENGINEERING PRACTICE | 2014年 / 33卷
关键词：
Dynamic positioning system; Observer backstepping controller; Nonlinear observer; OUTPUT-FEEDBACK CONTROL; DESIGN; ALLOCATION; MODEL;
D O I：
10.1016/j.conengprac.2014.08.012
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 procedure for attenuating the control law of a vessel dynamic positioning system, based on the observer backstepping methodology, is proposed. The motivation is the appearance of an undesirable on-off behavior on the signal sent to the actuators when their saturation is considered and the control law is dependent on estimated state variables. Two gain matrices associated with the error variables are introduced to achieve the desired attenuation. Stability is proven through Lyapunov stability analysis. Numerical simulations confirm the effectiveness of the proposed controller to render the control law compatible with the limitations of the actuators. (C) 2014 Elsevier Ltd. All rights reserved.
引用
收藏
页码：105 / 114
页数：10
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