Title :
Output feedback control for dynamic positioning vessels using nonlinear observer backstepping
Author :
Xiaocheng, Shi ; Wenbo, Xie ; Mingyu, Fu
Author_Institution :
Dept. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
A horizontal 3 degree-of-freedom(DOF) ship model and environment model are established. Passive nonlinear observer which is extended to include more nonlinear terms of damping and Coriolis matrix is proposed, observer is used to filter the wave induced high frequency motion and give the state variable estimations. Then backstepping control method based on observer estimated values is obtained. The Global Uniformly Stability properties of observer-controller system are analyzed by applying Lyapunov stability theory. Simulation about a surface DP vessel is carried on to verify the performance of the entire guidance-control system.
Keywords :
Lyapunov methods; feedback; matrix algebra; motion control; nonlinear control systems; observers; position control; ships; stability; Coriolis matrix; DOF ship model; Lyapunov stability theory; backstepping control; damping; dynamic positioning vessel; environment model; global uniformly stability property; guidance-control system; high frequency motion; horizontal 3 degree-of-freedom ship model; nonlinear observer backstepping; output feedback control; passive nonlinear observer; state variable estimation; surface DP vessel; Backstepping; Damping; Equations; Marine vehicles; Mathematical model; Observers; Stability analysis; Dynamic Positioning; backstepping; observer;
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8113-2
DOI :
10.1109/ICMA.2011.5986356
