Design of UDE-based dynamic surface control for dynamic positioning of vessels with complex disturbances and input constraints
Huang, Youqiang and Wu, Defeng and Yin, Zibin and Yuan, Zhi-Ming (2021) Design of UDE-based dynamic surface control for dynamic positioning of vessels with complex disturbances and input constraints. Ocean Engineering, 220. 108487. ISSN 0029-8018 (https://doi.org/10.1016/j.oceaneng.2020.108487)
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Abstract
In practice, dynamic positioning (DP) vessels are subjected to complex disturbances as well as the magnitude and changing rate constraints of the thrusts and moments. This study applied a dynamic surface controller based on an uncertainty and disturbance estimator (UDE) to a DP vessel with complex disturbances and input constraints. The UDE was designed to estimate and handle the complex disturbances. An auxiliary dynamic system (ADS) and smooth switching function were employed to compensate for the input constraints and avoid the singularity phenomenon caused by the ADS, respectively. The combination of the UDE method and dynamic surface control (DSC) technology significantly simplified the design process for the control law and increased the practicability for DP vessels. The stability of the proposed control law was proved using the Lyapunov theory. The effectiveness of the control law and possibility of actually applying it to a DP vessel were verified using simulation experiments.
ORCID iDs
Huang, Youqiang, Wu, Defeng, Yin, Zibin and Yuan, Zhi-Ming ORCID: https://orcid.org/0000-0001-9908-1813;-
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Item type: Article ID code: 75313 Dates: DateEvent15 January 2021Published24 December 2020Published Online6 December 2020AcceptedSubjects: Naval Science > Naval architecture. Shipbuilding. Marine engineering Department: Faculty of Engineering > Naval Architecture, Ocean & Marine Engineering Depositing user: Pure Administrator Date deposited: 04 Feb 2021 14:51 Last modified: 12 Sep 2024 00:56 URI: https://strathprints.strath.ac.uk/id/eprint/75313