Nonlinear observer-controller design for dynamic positioning of ships

被引：2
|
作者：
He Liming
机构：
来源：
Journal of Systems Engineering and Electronics | 2004年 / 03期
关键词：
dynamic positioning; nonlinear observer; nonlinear PD + feedforward control; stability analysis;
D O I：
暂无
中图分类号：
TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 0835 ;
摘要：
The main focus is nonlinear model-based dynamic positioning (DP) control system design. A nonlinear uniform global exponential stability (UGES) observer produces noise-free estimates of the position, the slowly varying environmental disturbances and the velocity, which are used in a proportional-derivative (PD) + feedforward control law. The stability of this observer-controller system is proved by introducing a specific nonlinear cascaded system. The simulation results have successfully demonstrated the performance of designed DP control system.
引用
收藏
页码：359 / 363
页数：5
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