Control of Dynamic Positioning System with Disturbance Observer for Autonomous Marine Surface Vessels

Tomera, M.; Podgórski, Kamil

doi:10.3390/s21206723

Cited by 13 publications

(9 citation statements)

References 119 publications

(137 reference statements)

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“…Taking Northern Clipper with mass of 4:591310 6 kg and length of 76:2 m as an example to simulate different situations. 22 Based on Fossen, 22 the coefficient matrices in ( 6) are taken as follows: Case 1:…”

Section: Simulation Examplesmentioning

confidence: 99%

“…, P 2 = 0:0217 0:0000 0:0000 0:0000 0:0217 0:0000 0:0000 0:0000 0:0116 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 1:6279310 6 0:0000 0:0000 0:0000 2:5382310 6 0:0000 0:0000 0:0000 6:2247310 8 1:7936 0:0000 0:0000 0:5979 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 1:7936 À0:0002 0:0000 0:5979 À0:0011 0:0000 0:0000 0:0000 0:0000 À0:0002 2:0340 0:0000 0:0007 1:6127 0:0000 0:0000 0:0000 0:5979 0:0000 0:0000 1:7937 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:5979 0:0007 0:0000 1:7938 0:0007 0:0000 0:0000 0:0000 0:0000 À0:0011 1:6127 0:0000 0:0007 5:5563 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0217 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0217 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0116 T , L = 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 0:0000 7:5017310 7 0:0000 0:0000 0:0000 1:1697310 8 0:0000 0:0000a 0:0000 5:3661310 10 Table 1 indicates the performance of the controlled ship at 100s. In Figures 2(a) and 3(a), it is shown that the CADC can make the ship stay in desired position (0m, 0m) and maintain a fixed attitude steadily.…”

Section: Simulation Examplesunclassified

“…5 An observer is designed to estimate the ocean disturbances influencing in systems DP ships. 6 As we all known that, in many results only the influence of external disturbance are considered on DP ships.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Composite anti-disturbance control for ship dynamic positioning systems with thruster faults

Wei

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part M:

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Anti-disturbance control problem is studied for ship dynamic positioning systems with model uncertainties and ocean disturbances under thruster faults. For the ocean disturbance, a stochastic disturbance observer (SDO) is established to give the online estimation. For thruster faults, an adaptive law is used to evaluate, which is obtain from Lyapunov function. For model uncertainties, a robust control term with adaptive technology is used to attenuate it. Then, a composite anti-disturbance control (CADC) strategy is raised by combining disturbance observer-based control (DOBC), adaptive technology, and robust control term, which makes the position and yaw angle of ship reach the desired values. Finally, the simulation example proves the validity of the controller.

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Section: Simulation Examplesmentioning

confidence: 99%

Section: Simulation Examplesunclassified

See 1 more Smart Citation

Composite anti-disturbance control for ship dynamic positioning systems with thruster faults

Wei

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part M:

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show abstract

“…Then the position and path-following control of a fully actuated autonomous underwater vehicle (AUV) was solved. An efficient controller was designed through a backstepping technique for the case of full-state feedback in the presence of unknown external disturbances, and the dynamic positioning problem for autonomous surface ships was solved in [33]. In the meantime, the obtained control commands were distributed to each actuator of the overactuated vessel via unconstrained control allocation.…”

Section: Introductionmentioning

confidence: 99%

An Improved Dynamic Surface Sliding Mode Method for Autonomous Cooperative Formation Control of Underactuated USVS with Complex Marine Environment Disturbances

Dong

et al. 2022

Polish Maritime Research

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In this paper, a novel dynamic surface sliding mode control (DSSMC) method, combined with a lateral velocity tracking differentiator (LVTD), is proposed for the cooperative formation control of underactuated unmanned surface vehicles (USVs) exposed to complex marine environment disturbances. Firstly, in view of the kinematic and dynamic models of USVs and the design idea of a virtual control law in a backstepping approach, the trajectory tracking control problem of USVs’ cooperative formation is transformed into a stabilisation problem of the virtual control law of longitudinal and lateral velocities. Then, aiming at the problem of differential explosion caused by repeated derivation in the process of backstepping design, the first-order low-pass filter about the virtual longitudinal velocity and intermediate state quantity of position is constructed to replace differential calculations during the design of the control law, respectively. In order to reduce the steady-state error when stabilising the virtual lateral velocity control law, the integral term is introduced into the design of the sliding mode surface with a lateral velocity error, and then the second-order sliding mode surface with an integral is structured. In addition, due to the problem of controller oscillation and the role of the tracking differentiator (TD) in active disturbance rejection control (ADRC), the LVTD is designed to smooth the state quantity of lateral velocity. Subsequently, based on the dynamic model of USV under complex marine environment disturbances, the nonlinear disturbance observer is designed to observe the disturbances and compensate the control law. Finally, the whole cooperative formation system is proved to be uniformly and ultimately bounded, according to the Lyapunov stability theory, and the stability and validity of the method is also verified by the simulation results.

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“…However, to the best of our knowledge, many reports of model-based path following control are limited to the simple routes (straight line [ 3 ], curved line [ 5 , 21 ], port [ 8 , 22 , 23 ] and starboard turning [ 9 , 11 ]) with an existing model presented in [ 2 , 3 , 5 , 8 , 9 , 11 , 22 , 23 , 24 ] that includes the unknown restoring forces in the dynamics. Conversely, some numerical publications [ 25 , 26 , 27 , 28 ] without experiments handle the non-diagonal matrices for sway/yaw added mass (

of 3DOF system, A26 of 6 DOF system) for practical situations based on port/starboard symmetry hull forms; however, this overlooks the nonlinear restoring terms in the dynamics, because the fast convergence and robust stability of the underactuated model considering both unknown nonlinear restoring terms and

are more challenging problems. Otherwise, no specific dynamics or hydrodynamic coefficients can be seen in experiments using USV [ 29 ].…”

Section: Introductionmentioning

confidence: 99%

Path following Control of an Underactuated Catamaran for Recovery Maneuvers

Lee

Song

Kim

et al. 2022

Sensors

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This paper focuses on the autonomous recovery maneuvers of an unknown underactuated practical catamaran, which returns to its initial position corresponding to the man overboard (MOB) by simply adjusting the rate of turn. This paper investigates the completion of model-based path following control for not only the traditional Williamson turn, but also complex recovery routes under time-varying disturbances. The main difficulty of model-based path following control for predicting the hydrodynamic derivatives of a practical catamaran was solved by the approximated calculation of a diagonal matrix. The second key problem of differential calculation for an underactuated model in the case of complex reference trajectories under severe disturbances was investigated. Even though this paper employs a diagonal matrix with unknown nonlinear terms, the experimental test using a small craft with payloads by remote control demonstrated the sway force per yaw moment in turning cases. Adaptive backstepping mechanisms with unknown parameters were proven by the Lyapunov theory as well as the passive-boundedness of the sway dynamics, guaranteeing the stability of sway motion in the case of unavailable sway control. The effectiveness of the algorithms of the guiding concept and error dynamics is demonstrated by the numerical simulations.

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Control of Dynamic Positioning System with Disturbance Observer for Autonomous Marine Surface Vessels

Cited by 13 publications

References 119 publications

Composite anti-disturbance control for ship dynamic positioning systems with thruster faults

Composite anti-disturbance control for ship dynamic positioning systems with thruster faults

An Improved Dynamic Surface Sliding Mode Method for Autonomous Cooperative Formation Control of Underactuated USVS with Complex Marine Environment Disturbances

Path following Control of an Underactuated Catamaran for Recovery Maneuvers

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