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Dynamic positioning of ship using backstepping controller with nonlinear disturbance observer

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Title Dynamic positioning of ship using backstepping controller with nonlinear disturbance observer
 
Creator Dong, D
Li, J
Yang, S
Xiang, X
 
Subject Adaptive backstepping control
Dynamic positioning
Hardware-in-the-loop simulation
Nonlinear disturbance observer
Robust nonlinear control
 
Description 930-937
This paper studies the adaptive dynamic positioning control problem of the full-actuated ship with uncertain timevarying
environmental disturbances. Considering the disturbances with unknown boundaries, the inversion control technique
is combined with the disturbance observation compensation method to design the robust adaptive backstepping control law
of the ship dynamic positioning system. The Lyapunov function is adopted to prove the errors of the ship’s position and
heading angle are uniformly ultimately bounded using the designed control law. The nonlinear disturbance observer can
adaptively estimate and compensate for uncertain external disturbances caused by winds, waves and currents. Afterward, the
verification of the proposed controller through a typical CyberShip Ⅱ model subject to environmental disturbances is carried
out using a hardware-in-the-loop simulation where a thrust distribution model is established. The simulation results show the
effectiveness of the proposed control law.
 
Date 2022-03-14T10:10:54Z
2022-03-14T10:10:54Z
2021-11
 
Type Article
 
Identifier 2582-6727 (Online); 2582-6506 (Print)
http://nopr.niscair.res.in/handle/123456789/59325
 
Language en
 
Publisher NIScPR-CSIR, India
 
Source IJMS Vol.50(11) [November 2021]