Dynamic positioning of ship using backstepping controller with nonlinear disturbance observer
NOPR - NISCAIR Online Periodicals Repository
View Archive InfoField | Value | |
Title |
Dynamic positioning of ship using backstepping controller with nonlinear disturbance observer
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Creator |
Dong, D
Li, J Yang, S Xiang, X |
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Subject |
Adaptive backstepping control
Dynamic positioning Hardware-in-the-loop simulation Nonlinear disturbance observer Robust nonlinear control |
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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. |
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Date |
2022-03-14T10:10:54Z
2022-03-14T10:10:54Z 2021-11 |
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Type |
Article
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Identifier |
2582-6727 (Online); 2582-6506 (Print)
http://nopr.niscair.res.in/handle/123456789/59325 |
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Language |
en
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Publisher |
NIScPR-CSIR, India
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Source |
IJMS Vol.50(11) [November 2021]
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