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Dynamic positioning of ship using backstepping controller with nonlinear disturbance observer


Affiliations
1 School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan – 430 074, China

This paper studies the adaptive dynamic positioning control problem of the full-actuated ship with uncertain timevarying environmental disturbances. Considering the disturbances with unknown boundaries, the inversion control technique is combined with the disturbance observation compensation method to design the robust adaptive backstepping control law of the ship dynamic positioning system. The Lyapunov function is adopted to prove the errors of the ship’s position and heading angle are uniformly ultimately bounded using the designed control law. The nonlinear disturbance observer can adaptively estimate and compensate for uncertain external disturbances caused by winds, waves and currents. Afterward, the verification of the proposed controller through a typical CyberShip Ⅱ model subject to environmental disturbances is carried out using a hardware-in-the-loop simulation where a thrust distribution model is established. The simulation results show the effectiveness of the proposed control law.
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  • Dynamic positioning of ship using backstepping controller with nonlinear disturbance observer

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Authors

D Dong
School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan – 430 074, China
J Li
School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan – 430 074, China
S Yang
School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan – 430 074, China
X Xiang
School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan – 430 074, China

Abstract


This paper studies the adaptive dynamic positioning control problem of the full-actuated ship with uncertain timevarying environmental disturbances. Considering the disturbances with unknown boundaries, the inversion control technique is combined with the disturbance observation compensation method to design the robust adaptive backstepping control law of the ship dynamic positioning system. The Lyapunov function is adopted to prove the errors of the ship’s position and heading angle are uniformly ultimately bounded using the designed control law. The nonlinear disturbance observer can adaptively estimate and compensate for uncertain external disturbances caused by winds, waves and currents. Afterward, the verification of the proposed controller through a typical CyberShip Ⅱ model subject to environmental disturbances is carried out using a hardware-in-the-loop simulation where a thrust distribution model is established. The simulation results show the effectiveness of the proposed control law.