Robust tracking control for dynamic positioning ships subject to dynamic safety constraints

This paper addresses the dynamic safety constraint problem for the Dynamic Positioning (DP) ship subject to model uncertainties and unknown environmental disturbances. To guarantee the dynamic safety constraints, a new constraint technique based on the unified barrier function (UBF) is used to convert the original constrained DP system into an equivalent “non-constrained” one. By blending the new coordinate transformation into backstepping design, the position and velocity of the DP ship keep within the given constraints. In addition, a bioinspired neurodynamics model (BNDM) is developed to solve the traditional differential explosion problem of the virtual control law and limit the output in a certain range. Further, a sliding mode disturbance observer (SMDO) is introduced to estimate the model uncertainties and unknown environmental disturbances with minor chattering and rapid convergence. Finally, the effectiveness of the proposed controller and observer of the DP ship is illustrated by numerical simulations.

• Record URL:
  • https://doi.org/10.1016/j.oceaneng.2022.112710
• Record URL:
  • http://www.sciencedirect.com/science/article/pii/S002980182201993X
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00298018
• Supplemental Notes:
  • © 2022 Elsevier Ltd. All rights reserved. Abstract reprinted with permission of Elsevier.
• Authors:
  • Liu, Yeye
  • 0000-0002-1122-5956
  • Lin, Xiaogong
  • Liang, Kun
  • 0000-0001-7288-5053
• Publication Date: 2022-12-15

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References; Tables;
• Pagination: 112710
• Serial:
  • Ocean Engineering
  • Volume: 266
  • Issue Number: 0
  • Publisher: Pergamon
  • ISSN: 0029-8018
  • EISSN: 1873-5258
  • Serial URL: http://www.sciencedirect.com/science/journal/00298018

Subject/Index Terms

• TRT Terms: Constraints; Dynamic positioning; Maritime safety; Ships; Sliding mode control; Tracking systems
• Subject Areas: Marine Transportation; Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 01862436
• Record Type: Publication
• Files: TRIS
• Created Date: Oct 25 2022 2:16PM