Guaranteed cost control for dynamic positioning of marine surface vessels with input saturation

Liu, Tao; Xiao, Yunfei; Yang, Feng; Li, Jun; Huang, Bing

doi:10.1016/j.apor.2021.102868

Cited by 7 publications

(2 citation statements)

References 29 publications

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“…In [11], a fuzzy control law was developed for a DP system with multiplicative noise, where the controller can achieve asymptotic state tracking by seeking the stability condition for the closed-loop system, subject to actuator saturation. In [12], a guaranteed cost controller was proposed for the DP system of a marine surface vessel with external disturbances and input saturation; the magnitude constraints of the control inputs were transformed into linear matrix inequalities, which were achieved by seeking a feasible control objective. In [13], a robust DP controller with a nonlinear disturbance observer was presented; here, input saturation was handled by the auxiliary system.…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Controller Design for the Dynamic Positioning of Ships Considering Disturbances and Actuator Constraints

Zhang

Liu

Zhang

et al. 2022

JMSE

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Focusing on dynamic positioning (DP) systems for ships, which are subject to environmental disturbances and actuator constraints, this paper presents a finite-time controller that uses a disturbance observer with the aid of a backstepping technique. First, to estimate the time-varying and unknown environmental disturbances in finite time, two sliding-mode disturbance observers are constructed. Specifically, an adaptive disturbance observer (ADO) effectively decreases undesired chattering without the need for prior information on environmental disturbances. Then, to handle the actuator constraints, the designed control forces are distributed into multiple actuators using a control allocation algorithm to obtain the actual forces. Next, an auxiliary dynamic system is built to compensate for velocity tracking errors induced by the mismatch of the DP control law and thruster forces. Then, with the designed ADO and the auxiliary dynamic system, a finite-time controller with a fast exponential-reaching law is designed; this ensures that the positioning errors and the sliding surface converge to zero at a fast convergence rate. Finally, numerical simulations are presented: these present a cable-laying ship experiencing wind, currents, and waves in different sea states. The results show the effectiveness of the presented control scheme.

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Section: Introductionmentioning

confidence: 99%

Finite-Time Controller Design for the Dynamic Positioning of Ships Considering Disturbances and Actuator Constraints

Zhang

Liu

Zhang

et al. 2022

JMSE

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“…By minimizing the H ∞ norm of the system, a controller with robust performance can be obtained, thereby achieving control of the system. After linearizing the DP model, DP robust controllers can be obtained by solving linear matrix inequalities [12,87,88]. In addition, Hu et al considered the sensor noise and ocean disturbances on marine crafts, combined DO and H ∞ control, proposed a DP composite anti-disturbance controller, which provides considerable inspiration for DP robust control design [11].…”

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confidence: 99%

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Gao,

2024

JMSE

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This paper surveys the recent advances in dynamic positioning (DP) control for marine crafts. DP of marine crafts means that a craft can maintain a fixed position and heading, or move along a predetermined trajectory slowly without the anchoring system, using only its own thruster system to counteract ocean disturbances. The survey is by no means exhaustive but provides a survey of some of the major technological advancements in DP controller design over the years of research and development. Firstly, the model of marine crafts and some difficult problems in DP control are introduced including the impact of multiple source disturbance, unavailable velocity measurement information, resource conservation and performance optimization, destabilizing impact of faults and network security and compound multi-constraint restrictions. Then, the DP control schemes in recent years are summarized and classified in detail. Finally, some theoretical and technical problems are proposed, including online data-driven model-free control, man–machine combination intelligent control and composite hierarchical anti-disturbance control to guide future investigations.

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Simultaneous planning and executing trajectory tracking control for underactuated unmanned surface vehicles from theory to practice

Cai

2023

Ocean Engineering

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Guaranteed cost control for dynamic positioning of marine surface vessels with input saturation

Cited by 7 publications

References 29 publications

Finite-Time Controller Design for the Dynamic Positioning of Ships Considering Disturbances and Actuator Constraints

Finite-Time Controller Design for the Dynamic Positioning of Ships Considering Disturbances and Actuator Constraints

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Simultaneous planning and executing trajectory tracking control for underactuated unmanned surface vehicles from theory to practice

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