High-Gain Observer-Based Output Feedback Controller Design for Dynamic Positioning of Ships

摘要：

　　The motion of a ship at sea is nonlinear and complex due to fact that the ship is subjected to hydrodynamic forces and environmental disturbances.Thus,the problem of velocity measurement and position tracking for a dynamically positioned ship is still of a great interest.In view of that,this paper proposes a high-gain observer based output feedback controller for the control of dynamic positioning of surface ships in the presence of constant unknown environmental disturbances.We apply both vectorial backstepping control technique and Lyapunov stability theory to design the output feedback controller using the high-gain observer.Simulation is carried out to demonstrate the effectiveness and performance of the proposed design approach.In addition,results obtained relatively show that the proposed controller guarantees both global boundness and global uniformly asymptotic stability(GUAS).

关键词： High-gain based observer backstepping control technique dynamic positioning of surface ships output feedback control

作者: NGONGI Werneld DU Jialu

作者单位: School of Information Science and Technology Dalian Maritime University,Dalian 116026,Liaoning Province,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 3534-3539

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）