Robust dynamic positioning of ships with disturbances under input saturation

被引：362

作者：

Du, Jialu ^{[1
]}

Hu, Xin ^{[1
]}

Krstic, Miroslav ^{[2
]}

Sun, Yuqing ^{[3
]}

机构：

[1] Dalian Maritime Univ, Sch Informat Sci & Technol, Dalian 116026, Liaoning, Peoples R China

[2] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA

[3] Dalian Maritime Univ, Sch Marine Engn, Dalian 116026, Liaoning, Peoples R China

来源：

AUTOMATICA | 2016年 / 73卷

基金：

中国国家自然科学基金;

关键词：

Dynamic positioning of ships; Unknown time-varying disturbances; Input saturation; Disturbance observer; Auxiliary dynamic system; Dynamic surface control; SURFACE CONTROL; NONLINEAR-SYSTEMS; FEEDBACK; DESIGN; CONTROLLER;

D O I：

10.1016/j.automatica.2016.06.020

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the presence of unknown time-varying disturbances and input saturation, this paper develops a robust nonlinear control law for the dynamic positioning (DP) system of ships using a disturbance observer, an auxiliary dynamic system, and the dynamic surface control (DSC) technique. The disturbance observer is constructed to provide the estimates of unknown time-varying disturbances, the auxiliary dynamic system is employed to handle input saturation, and the DSC technique makes the designed DP control law be simple and easy to implement in practice. It is proved that the designed DP robust nonlinear control law can maintain ship's position and heading at desired values, while guaranteeing the uniform ultimate boundedness of all signals in the DP closed-loop control system. Finally, simulations on a supply ship are carried out to demonstrate the effectiveness of the developed DP control law. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：207 / 214

页数：8

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