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    Global robust and adaptive output feedback dynamic positioning of surface ships

    Access Status
    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2011
    Type
    Journal Article
    
    Metadata
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    Citation
    Do, K.D. 2011. Global robust and adaptive output feedback dynamic positioning of surface ships. Journal of Marine Science and Application. 10 (3): pp. 325-332.
    Source Title
    Journal of Marine Science and Application
    DOI
    10.1007/s11804-011-1076-z
    ISSN
    1671-9433
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/55634
    Collection
    • Curtin Research Publications
    Abstract

    A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships. © 2011 Harbin Engineering University and Springer-Verlag Berlin Heidelberg.

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