Dynamic positioning control of ships via relay observer design

被引：0
|
作者：
Javier, MV [1 ]
Leonardo, AZ [1 ]
机构：
[1] IPN, Ctr Invest & Desarrollo Tecnol Digital, CITEDI, Tijuana, BC, Mexico
来源：
ASIAN JOURNAL OF CONTROL | 2004年 / 6卷 / 03期
关键词：
ships; positioning control; relay observers; asymptotic stability;
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：
A dynamically positioned ship maintains its position (fixed location or predetermined track) exclusively by means of active thrusters. In this paper, a control scheme for dynamic positioning control of ships using a relay observer design is presented. Our analysis relies on nonsmooth strict Lyapunov functions to demonstrate global asymptotic stability of the closed-loop system equilibrium. Using simulation results we illustrate the good performance of the proposed scheme under noisy ship position measurements.
引用
收藏
页码：398 / 406
页数：9
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