Control System Design for Dynamic Positioning Ships Using Nonlinear Passive Observer Backstepping

被引：0
|
作者：
Xie, Dengfeng [1 ]
Jia, Baozhu [1 ]
Ren, Yafei [1 ]
机构：
[1] Dalian Maritime Univ, Marine Engn Coll, Dalian, Peoples R China
来源：
2018 CHINESE AUTOMATION CONGRESS (CAC) | 2018年
基金：
中国国家自然科学基金;
关键词：
Dynamic positioning system; nonlinear control; backstepping; observer design; Lyapunov stability; FEEDBACK;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aiming at the characteristics of nonlinear system of dynamic positioning system by considering the influence of environmental disturbance, a global exponential stability (GES) nonlinear output feedback control algorithm was proposed in this paper. The system includes a nonlinear passive observer used to filter out the high frequency (HF) disturbance of measured position and heading, as well as to estimate the velocity of the ship. Observed position and heading signal were used to design the backstepping controller with integral action, which can improve the dynamic response speed of the closed-loop control system. The global exponential stability of the total system is proved by the Lyapunov stability theory. The performance of the designed controller has been verified in computer simulation.
引用
收藏
页码：4221 / 4226
页数：6
相关论文
共 50 条
  • [1] Nonlinear passive control and observer design for ships
    Fossen, TI
    MODELING IDENTIFICATION AND CONTROL, 2000, 21 (03) : 129 - 184
  • [2] Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping
    Fossen, TI
    Grovlen, A
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1998, 6 (01) : 121 - 128
  • [3] Robust Nonlinear Control for Dynamic Positioning System of Ships Based on Disturbance Observer
    Hu, Xin
    Du, Jialu
    Xu, Dayu
    Wu, Yanbin
    2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2014, : 4554 - 4559
  • [4] Control system design for dynamic positioning using vectorial backstepping
    Witkowska, Anna
    SCIENTIFIC JOURNALS OF THE MARITIME UNIVERSITY OF SZCZECIN-ZESZYTY NAUKOWE AKADEMII MORSKIEJ W SZCZECINIE, 2013, 36 (01): : 182 - 187
  • [5] Study on Ship Dynamic Positioning Using Backstepping Stochastic Nonlinear Controller with Observer
    Song Ya-nan
    Xu Rong-hua
    Wang Qin-ruo
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 9866 - 9871
  • [6] High-Gain Disturbance Observer-Based Backstepping Control or Dynamic Positioning Ships Using Contraction Theory
    Zhang Yufang
    Liu Changde
    PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 282 - 287
  • [7] The Design of Adaptive Nonlinear Controller for Dynamic Positioning System of Ships
    Du Jialu
    Zhang Xianku
    Wang Siyuan
    Jiang Feng
    PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, : 585 - 589
  • [8] Nonlinear output feedback control of dynamic positioning system of ships
    Du, Jia-Lu
    Li, Wen-Hua
    Zheng, Kai
    Yu, Shuang-He
    Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science), 2012, 40 (02): : 70 - 75+91
  • [9] Modified observer backstepping controller for a dynamic positioning system
    Morishita, H. M.
    Souza, C. E. S.
    CONTROL ENGINEERING PRACTICE, 2014, 33 : 105 - 114
  • [10] Robust Adaptive Nonlinear Controller Design for Dynamic Positioning System of Ships
    Du Jialu
    Yang Yang
    Li Guangqiang
    Li Wenhua
    PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 904 - 909
12345