Journal of Shanghai Jiao Tong University

Journal of Shanghai Jiaotong University >

2020 , Vol. 54 >Issue 8: 849 - 855

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2019.084

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

Expand
  • College of Automation, Harbin Engineering University, Harbin 150001, China

Received date: 2019-03-23

  Online published: 2020-08-18

Fold

Abstract

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

Cite this article

XIA Guoqing, LIU Caiyun, CHEN Xinghua . Finite-Time Observer Design for Dynamic Positioning Assisted Mooring Positioning Ship[J]. Journal of Shanghai Jiaotong University, 2020 , 54(8) : 849 -855 . DOI: 10.16183/j.cnki.jsjtu.2019.084

References

[1] REN Z, SKJETNE R, HASSANI V . Supervisory control of line breakage for thruster-assisted position mooring system[J]. IFAC-PapersOnLine, 2015,48(16):235-240.
[2] 雷正玲, 郭晨, 刘正江 . 船舶锚泊辅助动力定位的抗扰控制[J]. 哈尔滨工程大学学报, 2015,1(36):24-28.
[2] LEI Zhengling, GUO Chen, LIU Zhengjiang . Disturbance rejection control over ship thruster-assisted mooring positioning[J]. Journal of Harbin Engineering University, 2015,1(36):24-28.
[3] JAYASIRI A, NANDAN A, IMTIAZ S , et al. Dynamic positioning of vessels using a UKF-based observer and an NMPC-based controller[J]. IEEE Transactions on Automation Science and Engineering, 2017,14(4):1778-1785.
[4] DING H, FENG H, XU H . An adaptive unscented Kalman filter for tracking sudden environmental forces changes in dynamic positioning system[J]. Journal of Ship Mechanics, 2017,21(6):711-721.
[5] 苏义鑫, 赵俊, 张华军 . 带有UKBF的船舶动力定位预测控制器设计[J]. 西南交通大学学报, 2018,53(3):589-594.
[5] SU Yixin, ZHAO Jun, ZHANG Huajun . Predictive controller with UKBF for marine dynamic positioning system[J]. Journal of Southwest Jiaotong University, 2018,53(3):589-594.
[6] WANG Y, TUO Y, YANG S X , et al. Reliability-based robust dynamic positioning for a turret-moored floating production storage and offloading vessel with unknown time-varying disturbances and input saturation.[J]. Isa Transactions, 2018,78:66-79.
[7] 黄成, 王岩 . 交会对接模拟系统姿态跟踪有限时间抗干扰控制[J]. 控制与决策, 2017,32(7):1189-1195.
[7] HUANG Cheng, WANG Yan . Finite-time active disturbance rejection attitude tracking control for rendezvous and docking simulator[J]. Control and Decision, 2017,32(7):1189-1195.
[8] XIA G, SUN C, ZHAO B , et al. Cooperative control of multiple dynamic positioning vessels with input saturation based on finite-time disturbance observer[J]. International Journal of Control, Automation and Systems, 2019,17(2):370-379.
[9] SU Y, ZHENG C . Robust finite-time output feedback control of perturbed double integrator[J]. Automatica, 2015,60:86-91.
[10] ZOU A M, DE RUITER A H J, KUMAR K D. Distributed finite-time velocity-free attitude coordination control for spacecraft formations[J]. Automatica, 2016,67:46-53.
[11] KUMAR P R, BEHERA A K, BANDYOPADHYAY B . Robust finite-time tracking of stewart platform: A super-twisting like observer-based forward kinematics solution[J]. IEEE Transactions on Industrial Electronics, 2017,64(5):3776-3785.
[12] HARDY G, LITTLEWOOD J, POLYA G. Inequalities[M]. Cambridge, U.K.: Cambridge Univ. Press, 1952.
[13] BHAT S P, BERNSTEIN D S . Geometric homogeneity with applications to finite-time stability[J]. Mathematics of Control Signals & Systems, 2005,17(2):101-127.
[14] ZOU A . Finite-time output feedback attitude tracking control for rigid spacecraft[J]. IEEE Transactions on Control Systems Technology, 2014,22(1):338-345.
[15] 付明玉, 张爱华, 徐金龙 . 船舶轨迹跟踪半全局一致指数稳定观测控制器[J]. 控制与决策, 2013,28(6):920-924.
[15] FU Mingyu, ZHANG Aihua, XU Jinlong . Semi-global uniform exponential stable observer-controller for trajectory tracking of ships[J]. Control and Decision, 2013,28(6):920-924.
[16] FU M, YU L . Finite-time extended state observer-based distributed formation control for marine surface vehicles with input saturation and disturbances[J]. Ocean Engineering, 2018,159:219-227.
Options
Outlines

/

〈 〉