IEEE Transactions on Control Systems Technology · 1998 · 376 citations · 9 references
Naval ArchitectureNonlinear ControlEngineeringShip ManeuveringConstant Yaw AngleAerospace EngineeringState ObserverMechatronicsMechanical SystemsVectorial Observer BacksteppingSeakeeping And ControlSystems EngineeringDynamic PositioningMarine EngineeringNonlinear ObserverVibration ControlTracking ControlStability
Dynamic positioning systems for ships are typically designed by linearizing the kinematic equations around a constant yaw angle to enable linear and gain‑scheduling techniques. This study introduces a globally exponentially stable nonlinear control strategy that eliminates the need for the constant‑yaw linearization assumption. The authors employ a nonlinear observer and backstepping design, relying solely on position measurements, and validate the controller through simulations on two thruster‑controlled ships. Global exponential stability is established via Lyapunov analysis and confirmed by the simulation results.
Dynamic positioning (DP) systems for ships are usually designed under the assumption that the kinematic equations be linearized about a constant yaw angle such that linear and gain scheduling techniques can be applied. This paper proposes a globally exponentially stable (GES) nonlinear control where this assumption is removed. A nonlinear observer is included in the design such that only position measurements are required. GES is proven by applying the backstepping design methodology and Lyapunov stability theory. The control law is simulated on two thruster-controlled ships.
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