A Neurodynamics-based Dynamic Surface Control Algorithm for Tracking Control of Dynamic Positioning Vehicles

被引：0
|
作者：
Fu Mingyu [1 ]
Liu Tong [1 ]
Xu Yujie [1 ]
Liu Jia [1 ]
机构：
[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Peoples R China
来源：
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年
关键词：
Dynamic positioning vehicles; neural dynamic model; dynamic surface control; global asymptotically stable;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a neurodynamics-based dynamic surface control (DSC) algorithm is proposed, which is applied in tracking control of dynamic positioning (DP) vehicles. To avoid velocity jumps in the traditional DSC, we use the smooth continuous and bounded output characteristics of neural dynamic model to construct an intermediate virtue variable. And an appropriate Lyapunov function is introduced to get the tracking control law, which can guarantee global asymptotical stability of the control effect. Not only will this solve the problem of velocity jumps, but also can avoid generating excessive force and moment and meet the thrust constraints of DP vehicles propeller. The simulation results prove the superiority and effectiveness of the proposed algorithm.
引用
收藏
页码：9167 / 9171
页数：5
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