Finite-Time Control of Dynamic Positioning Vessel Based on Disturbance Observer

Xia, Guoqing; Zhang, Benwei

doi:10.1155/2022/9262457

Cited by 2 publications

(1 citation statement)

References 33 publications

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“…Ref. [26] proposes the prescribed performance control for dynamically positioned vessels, where a finite-time controller combined with a nonlinear observer is constructed.…”

Section: Introductionmentioning

confidence: 99%

Output Feedback Tracking Control for Vessel with Collision-Avoidance and Performance Constraints

Zhang,

Xia

2023

Applied Sciences

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This manuscript investigates an output feedback-tracking control problem of a dynamically positioned vessel with an input constraint. The vessel is exposed to model uncertainty and external disturbances. Compared with the existing results, the primary contribution is to develop a switch-control strategy for achieving collision avoidance and performance constraints by using an extended state observer (ESO), a collision-avoidance controller (CAC), a prescribed performance controller, and an auxiliary dynamic system (ADS). The switch control strategy combined two different controllers, and an extended state observer (ESO) is designed. The ESO is employed to recover velocity information as well as unknown model uncertainty and external disturbances. A collision-risk-analysis module is introduced to evaluate whether there exists a risk of collision avoidance. Based on the analysis, the CASC can choose between a CAC and a PPC. An ADS is constructed to handle the input constraints. The CAC is employed by using an artificial potential function, the ADS, and the ESO. The PPC is designed based on an error constraint function, the ADS, and the ESO. The stability of the closed-loop control system is analyzed based on the Lyapunov direct method. Simulations prove the effectiveness of the presented control strategy.

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“…Ref. [26] proposes the prescribed performance control for dynamically positioned vessels, where a finite-time controller combined with a nonlinear observer is constructed.…”

Section: Introductionmentioning

confidence: 99%

Output Feedback Tracking Control for Vessel with Collision-Avoidance and Performance Constraints

Zhang,

Xia

2023

Applied Sciences

Self Cite

View full text Add to dashboard Cite

show abstract

Output Feedback Tracking Control with Collision Avoidance for Dynamic Positioning Vessel under Input Constraint

Zhang

Xia

2023

JMSE

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This dissertation presents a fresh control strategy for dynamic positioning vessels exposed to model uncertainty, various external disturbances, and input constraint. The vessel is supposed to work in a particular situation surrounding a lighthouse or a submerged reef, where collision avoidance must be prevented. The control strategy involves making the vessel navigate under the action of modified artificial potential functions (MAPFs) along a smooth trajectory. To achieve this goal, we put forward a collision-avoidance control strategy, which consists of the backstepping technique, an extended state observer (ESO), and an active dynamic positioning control technique. The MAPFs, together with a strategy, are applied to realize collision avoidance. To address the input constraint problem, an auxiliary dynamic system (ADS) is constructed. Entire related signals of the control system could converge to a small neighboring zone of the equilibrium state via Lyapunov deduction. Simulation outcomes verify the effectiveness of the presented control strategy.

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Finite-Time Control of Dynamic Positioning Vessel Based on Disturbance Observer

Cited by 2 publications

References 33 publications

Output Feedback Tracking Control for Vessel with Collision-Avoidance and Performance Constraints

Output Feedback Tracking Control for Vessel with Collision-Avoidance and Performance Constraints

Output Feedback Tracking Control with Collision Avoidance for Dynamic Positioning Vessel under Input Constraint

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