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Anti-disturbance control for dynamic positioning system of ships with disturbances

Author

Listed:
  • Zhang, Huifeng
  • Wei, Xinjiang
  • Wei, Yongli
  • Hu, Xin

Abstract

A robust anti-disturbance control (RADC) strategy is investigated for the ship dynamic positioning (DP) systems with unknown time-varying disturbances. The disturbances are brought about by wind, second-order wave drift, ocean currents as well as unmodeled dynamics, which are modelled by the first-order Markov process. The disturbance observer (DO) is established to online estimate disturbances. Then, the anti-disturbance controller for the ship DP system is designed and the stability analysis of the composite system is presented by using stochastic stability theory. The DOBC and the pole placement methods are implemented to improve the robustness against ocean environmental disturbances. The unknown time-varying disturbances can be attenuated such that the yaw angle and position of the ship reach the desired value with high accuracy. Finally, simulation on a supply ship is given to illustrate the validity of the proposed control strategy.

Suggested Citation

  • Zhang, Huifeng & Wei, Xinjiang & Wei, Yongli & Hu, Xin, 2021. "Anti-disturbance control for dynamic positioning system of ships with disturbances," Applied Mathematics and Computation, Elsevier, vol. 396(C).
    • Handle: RePEc:eee:apmaco:v:396:y:2021:i:c:s0096300320308821
    DOI: 10.1016/j.amc.2020.125929
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    References listed on IDEAS

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    1. Qi, Wenhai & Kao, Yonggui & Gao, Xianwen & Wei, Yunliang, 2018. "Controller design for time-delay system with stochastic disturbance and actuator saturation via a new criterion," Applied Mathematics and Computation, Elsevier, vol. 320(C), pages 535-546.
    2. Xu, Tianbo & Gao, Xianwen & Qi, Wenhai & Wei, Yunliang, 2019. "Disturbance-observer-based control for semi-Markovian jump systems with generally uncertain transition rate and saturation nonlinearity," Applied Mathematics and Computation, Elsevier, vol. 362(C), pages 1-1.
    3. Mou Chen & Bin Jiang, 2013. "Adaptive control and constrained control allocation for overactuated ocean surface vessels," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(12), pages 2295-2309.
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    Cited by:

    1. Liu, Lijun & Chen, Mou & Li, Tao, 2022. "Disturbance observer-based robust coordination control for unmanned autonomous helicopter slung-load system via coupling analysis method," Applied Mathematics and Computation, Elsevier, vol. 427(C).

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