Journal of Shanghai Jiaotong University ›› 2020, Vol. 54 ›› Issue (8): 849-855.doi: 10.16183/j.cnki.jsjtu.2019.084

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Finite-Time Observer Design for Dynamic Positioning Assisted Mooring Positioning Ship

XIA Guoqing, LIU Caiyun, CHEN Xinghua()   

  1. College of Automation, Harbin Engineering University, Harbin 150001, China
  • Received:2019-03-23 Online:2020-08-28 Published:2020-08-18
  • Contact: CHEN Xinghua


In response to the problem of unmeasurable velocity and uncertain external disturbances of the dynamic positioning assisted mooring positioning (DPM) system of the ship, a finite-time observer based on the traditional state observer to estimate the velocity and external disturbances is proposed. The unmodelled dynamic items in the system are considered in the modelling process of the ship. Based on the dynamics model, the mathematical expression of the finite-time observer is given. It is proved that the proposed finite-time observer is semi-global finite-time stable by using matrix inequality, homogeneous, and the Lyapunov stability theory. The observer is simulated and compared with the traditional state observer in order to justify that the proposed finite-time observer has a faster convergence and a better disturbance rejection.

Key words: dynamic positioning assisted mooring positioning (DPM) system, unmeasurable velocity, external disturbance, finite-time state observer (FTSO), finite-time stability

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