Adaptive observer based backstepping controller design for dynamic ship positioning

Deng, Fang; Wang, Longjin; Jiao, Dongmei

doi:10.1007/s13344-017-0073-7

Cited by 16 publications

(3 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Grøvlen and Fossen firstly applied the nonlinear observer backstepping control to ship DP systems [3]. In recent years, many nonlinear advanced control methods, such as neural networks control [4], adaptive control [5], [6], and robust control [7], have been proposed in many literature. Considering that the thruster physically limits the control force in practical application, and the model predictive control (MPC) methods have the advantages of explicitly handling the physical constraints [8], [9], lots of attentions have been paid to MPC methods.…”

Section: Introductionmentioning

confidence: 99%

Robust Nonlinear Model Predictive Control for Ship Dynamic Positioning Using Laguerre Function

et al. 2022

View full text Add to dashboard Cite

This paper is devoted to the issue of computationally efficient and robust nonlinear model predictive control (NMPC) for ship dynamic positioning (DP) systems subjected to input constraints and unknown environmental disturbances. The Laguerre functions, typically applied to the linear systems, are introduced to the constrained NMPC design of the nonlinear DP system to reduce the computational burden. The unscented Kalman filter is adopted to estimate the unknown disturbances and states; thus, the disturbance estimates are utilized as the cancellation signal to achieve robust offset-free control. Simulations of the proposed Laguerre function-based NMPC scheme are implemented and compared with the performance of typical Laguerre function-based linear model predictive control (LMPC) for the DP system. Simulation results well demonstrate the effectiveness, robustness and superiority of the proposed controller.INDEX TERMS Laguerre functions, nonlinear model predictive control, input constraints, ship dynamic positioning

show abstract

Section: Introductionmentioning

confidence: 99%

Robust Nonlinear Model Predictive Control for Ship Dynamic Positioning Using Laguerre Function

et al. 2022

View full text Add to dashboard Cite

show abstract

“…Fossen and Perez gave an overview of Kalman filter design for the DP and autopilot system [33]. Deng et al proposed a modified adaptive observer based backstepping control algorithm for the dynamic positioning system [34]. Yang et al presented a trajectory tracking robust controller and disturbance observer to deal with external disturbances and nonlinear terms [35].…”

Section: Introductionmentioning

confidence: 99%

A Wave Peak Frequency Tracking Method Based on Two-Stage Recursive Extended Least Squares Identification Algorithm

Yuan

Pan

et al. 2021

IEEE Access

View full text Add to dashboard Cite

This paper proposes the wave peak frequency tracking methods based on the least squares identification algorithm. The wave disturbance model is transformed into an autoregressive moving average (ARMA) model and a recursive extended least squares (RELS) algorithm is derived to identify the model parameters by using the auxiliary model identification idea. Furthermore, a two-stage recursive extended least squares (2S-RELS) algorithm is presented to improve the convergence speed by using the hierarchical identification principle. A ship heading control system with the wave peak frequency tracker is built to evaluate the effectiveness of the proposed algorithms. Finally, simulation results show that the proposed algorithms can estimate the wave peak frequency accurately and the 2S-RELS algorithm can improve the convergence speed effectively.

show abstract

“…In [6], an eigenvalue decomposition adaptive sliding mode controller (SMC) is proposed, which can effectively eliminate the steady-state error and improve the capability of ship course keeping. In [7], an advanced adaptive observer based ship dynamic positioning backstepping is proposed, and the bias term is used to represent slow-varying disturbances and unmodeled dynamic. In [8], the backstepping is proposed to design station-keeping controllers of unmanned surface vehicle, and favorable results are obtained in the actual marine control system.…”

Section: Introductionmentioning

confidence: 99%

Design of Ship Course Controller Based on Improved Adaptive Backstepping

Qu¹,

Wang²

2019

Proceedings of the 2019 International Conference on Modeling, Analysis, Simulation Technologies and Applications (MASTA 2019)

View full text Add to dashboard Cite

This paper presents an improved adaptive backstepping control method based on uncertain parameters of ship model to design the ship course controller. The K-class function is introduced into every step of the virtual function design to ensure the stability of the closed-loop system and accelerate the convergence speed of the system state variables. Simulation results show that IAB control method is more superior than the traditional adaptive backstepping control method.

show abstract

Adaptive observer based backstepping controller design for dynamic ship positioning

Cited by 16 publications

References 7 publications

Robust Nonlinear Model Predictive Control for Ship Dynamic Positioning Using Laguerre Function

Robust Nonlinear Model Predictive Control for Ship Dynamic Positioning Using Laguerre Function

A Wave Peak Frequency Tracking Method Based on Two-Stage Recursive Extended Least Squares Identification Algorithm

Design of Ship Course Controller Based on Improved Adaptive Backstepping

Contact Info

Product

Resources

About