Nonlinear sampled-data stabilization of dynamically positioned ships is considered by reduced-order observer-based emulation controllers. Using a backstepping technique, continuous-time state feedback stabilizing feed...
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ISBN:
(纸本)9781424453634
Nonlinear sampled-data stabilization of dynamically positioned ships is considered by reduced-order observer-based emulation controllers. Using a backstepping technique, continuous-time state feedback stabilizing feedback laws for ships are designed and then under natural detectability assumption for ships linear time-invariant continuous-time reduced-order observers are obtained. Then combining an emulation of the designed state feedback laws and the exact discretization of the obtained observers, the output feedback semiglobal practical asymptotic stabilizing controllers are given for sampled-data dynamically positioned ships. A numerical example is given to illustrate the proposed design method.
This paper proposes a disturbance compensating model predictive control (DCMPC) strategy for the dynamic positioning (DP) system of ships with unknown time-varying environmental disturbances and actuator saturation. T...
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ISBN:
(纸本)9781509012244
This paper proposes a disturbance compensating model predictive control (DCMPC) strategy for the dynamic positioning (DP) system of ships with unknown time-varying environmental disturbances and actuator saturation. The proposed strategy can make the position and heading of the dynamicallypositioned ship converge to the desired values without any priori knowledge about environmental disturbances. The extended state observer (ESO) is introduced to estimate the unknown environmental disturbances. Based on ESO, the DCMPC algorithm is proposed to deal with the unknown disturbances. Finally, the simulations are carried out on a dynamicallypositioned ship and simulation results show the effectiveness of the proposed control strategy.
This paper proposes a disturbance compensating model predictive control (DCMPC) strategy for the dynamic positioning (DP) system of ships with unknown time-varying environmental disturbances and actuator saturation. T...
详细信息
This paper proposes a disturbance compensating model predictive control (DCMPC) strategy for the dynamic positioning (DP) system of ships with unknown time-varying environmental disturbances and actuator saturation. The proposed strategy can make the position and heading of the dynamicallypositioned ship converge to the desired values without any priori knowledge about environmental disturbances. The extended state observer (ESO) is introduced to estimate the unknown environmental disturbances. Based on ESO, the DCMPC algorithm is proposed to deal with the unknown disturbances. Finally, the simulations are carried out on a dynamicallypositioned ship and simulation results show the effectiveness of the proposed control strategy.
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