Nonlinear Output Feedback Control of Dynamic Positioning System of Ships

Journal of South China University of Technology(Natural Science Edition) ›› 2012, Vol. 40 ›› Issue (2): 70-75,91.

• Traffic & Transportation Engineering • Previous Articles Next Articles

Nonlinear Output Feedback Control of Dynamic Positioning System of Ships

Du Jia-Lu¹ Li Wen-hua² Zheng Kai¹ Yu Shuang-he¹

1.College of Information Science and Technology,Dalian Maritime University,Dalian 116026,Liaoning,China; 2.College of Marine Engineering,Dalian Maritime University,Dalian 116026,Liaoning,China

Received:2011-04-24 Revised:2011-10-30 Online:2012-02-25 Published:2012-01-04
Contact: 杜佳璐(1966-) ，女，博士，教授，主要从事智能控制、非线性控制理论和船舶运动控制研究． E-mail:dujl66@163.com
About author:杜佳璐(1966-) ，女，博士，教授，主要从事智能控制、非线性控制理论和船舶运动控制研究．
Supported by:
国家自然科学基金资助项目( 51079013) ; 辽宁省教育厅高等学校科研资助项目( LT2010013) ; 大连海事大学中央高校基本科研业务费专项资金资助项目( 2011QN109)

Abstract

Abstract:

In order to overcome the non-measurability of the velocity of dynamic positioning ships,a nonlinear observer-controller scheme with separate stability for the observer is proposed based on the nonlinear mathematical model of ship movement with environmental disturbances. The proposed scheme implements the output feedback control of ship dynamic positioning systems with position and orientation measurements only. The resulting output feedback closed-loop control system of dynamic positioning ships is proved to be globally and asymptotically stable by applying the cascaded nonlinear system theory,and the designed output feedback control law forces the ship position and orientation to globally and asymptotically converge to their desired values. Simulation results on a supply ship verify the effectiveness of the proposed output control law for the dynamic positioning of ships.

Key words: ship, dynamic positioning system, nonlinearity, observer, cascaded system theory, output feedback

CLC Number:

U661.33，TP271+.62

Du Jia-Lu Li Wen-hua Zheng Kai Yu Shuang-he. Nonlinear Output Feedback Control of Dynamic Positioning System of Ships[J]. Journal of South China University of Technology(Natural Science Edition), 2012, 40(2): 70-75,91.

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Nonlinear Output Feedback Control of Dynamic Positioning System of Ships

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