DocumentCode :
2793632
Title :
Nonlinear control of dynamic positioned ships using only position feedback: an observer backstepping approach
Author :
Grøvlen, Åslaug ; Fossen, Thor I.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Volume :
3
fYear :
1996
fDate :
11-13 Dec 1996
Firstpage :
3388
Abstract :
Dynamic positioning (DP) systems for ships are usually designed under the assumption that the kinematic equations can be linearized about a constant yaw angle such that linear theory can be applied. This paper proposes a globally uniformly asymptotically stable (GUAS) nonlinear control law where this assumption is removed. A nonlinear observer is included in the design such that only position measurements are required. GUAS is proven by applying the backstepping design methodology and Lyapunov stability theory The control law is simulated on a thruster controlled ship
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; feedback; nonlinear control systems; ships; GUAS control; Lyapunov stability theory; control design; dynamic positioning systems; globally uniformly asymptotically stable nonlinear control; kinematic equations; observer backstepping approach; position feedback; position measurements; ships; thruster controlled ship; Backstepping; Design methodology; Equations; Feedback; Kinematics; Marine vehicles; Observers; Optimal control; Position measurement; Surges;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
ISSN :
0191-2216
Print_ISBN :
0-7803-3590-2
Type :
conf
DOI :
10.1109/CDC.1996.573679
Filename :
573679
Link To Document :
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