|Table of Contents|

Control law design of dynamic positioning for ship based on dynamic surface control(PDF)

《交通运输工程学报》[ISSN:1671-1637/CN:61-1369/U]

Issue:
2014年05期
Page:
36-42,50
Research Field:
载运工具运用工程
Publishing date:

Info

Title:
Control law design of dynamic positioning for ship based on dynamic surface control
Author(s):
DU Jia-lu1;  YANG Yang1;  HU Xin1;  CHEN Hai-quan2
1. School of Information Science and Technology, Dalian Maritime University, Dalian 116026, Liaoning, China; 2. School of Marine Engineering, Dalian Maritime University, Dalian 116026, Liaoning, China
Keywords:
ship engineering;  dynamic positioning system;  dynamic surface control;  vectorial backstepping method;  adaptive robust control
PACS:
U661.33
DOI:
-
Abstract:
The control problem of dynamic positioning for surface ship was analyzed, the time-variant environmental disturbances with unknown bounds were considered, the dynamic surface control technology was combined with the vectorial backstepping method, based on which, an adaptive robust nonlinear control law of dynamic positioning was proposed. By introducing the dynamic surface control technique, the proposed control law utilized the differentiation term of the first-order low-pass filter to replace the differentiation term of virtual control vector. As a result, the differentiation operations in the control law design were replaced by the simple algebraic operations. Hence, the control law simplified the computation and was implemented in engineering practice easily. Leakage terms based on a variation of σ-modification were incorporated into the adaptive laws for estimating the unknown bounds of disturbances to prevent parameters from drifting. By using the Lyapunov function, it was proved that the proposed control law could force the ship's position and heading to converge and keep at the desired target values and guarantee the uniformly ultimate boundedness of all signals in the closed-loop dynamic positioning system of ship. Simulation result shows that as the initial horizontal-plane position of ship deviates 25 m from the desired position, the ship can achieve the desired position within 50 s based on the control law, so the proposed control law is effective. 1 tab, 7 figs, 15 refs.

References:

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Last Update: 2014-10-30