收稿日期: 2011-02-25
修回日期: 2011-07-05
网络出版日期: 2012-03-30
基金资助
国家“973”重点基础研究发展计划基金(No 2005CB221505)；国家“863”高技术研究发展计划基金(No 2011AA050403)；河南省控制工程重点学科开放实验室开放基金(No.KG2009-02) 资助
Dynamic Positioning of Dredgers Using Nonlinear Dynamic Surface Control and Feed-Forward Compensation
Received date: 2011-02-25
Revised date: 2011-07-05
Online published: 2012-03-30
张宇华1;2， 姜建国1， 郜登科1 . 结合非线性动态面和前馈补偿的挖泥船动力定位控制[J]. 应用科学学报, 2012 , 30(2) : 203 -208 . DOI: 10.3969/j.issn.0255-8297.2012.02.015
To deal with difficulties in the control of dynamic positioning of dredgers under large dredging forces reaction, a method of combining dynamic surface control and feed-forward compensation is proposed to be used in dynamic positioning of dredgers. Dredging forces can be feed-forward compensated by sensors, and the dynamic surface controller guarantees global asymptotic stability of the closed-loop system. A
first-order low-pass filter in the back-stepping design process allows the dynamic surface control technique to be implemented without differentiating any model nonlinearities, which can significantly simplify the design. Simulation results show that the proposed method has satisfactory performance.
[1] Groven A, Fossen T I. Nonlinear control of dynamicpositioned ships using only position feedback:
an observer backstepping approach [C]//Proceedingsof the 35th Conference on Decision and Control,
1996: 3388-3393.
[2] Fossen T I, Groven A. Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping [J]. IEEE Transactions on Control Systems Technology, 1998, 6(1): 369-376.
[3] Fossen T I, Strand J P. Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with as supply vessel [J]. Automatica,1999, 35(1): 3-16.
[4] Lorial A, Fossen T I, Panteley E. A separation principle for dynamic positioning of ships: theoretical and experimental results [J]. IEEE Transactions
on Control Systems Technology, 2000, 8(2): 332-343.
[5] Katayama H. Nonlinear sampled-data stabilization of dynamically positioned ships [J]. IEEE Transactions on Control Systems Technology, 2010, 18(2):463-468.
[6] Katayama H. Nonlinear sampled-data stabilization control for ships [C]//Proceedings of the American Control Conference, 2008: 550-555.
[7] Tannuri E A, Agostinho A C, Morishita H M. Dynamic positioning systems: an experimental analysis of sliding mode control [J]. Control Engineering
Practice, 2010, 18(10): 1121-1132.
[8] Agostinho A C, Moratelli J L, Tannuri E A. Sliding mode control applied to offshore dynamic positioning systems [C]//8th International IFAC Conference on Manoeuvring and Control of Marine Craft, 2009: 237-242.
[9] Liu F, Chen H. Robust receding horizon control of dynamic positioning ship [C]//1st International Conference on Transportation Information and Safety: Multimodal Approach to Sustained Transportation System Development-Information, Technology, Implementation, 2011: 2361-2368.
[10] Kim M H, Inman D J. Development of a robust nonlinear observer for dynamic positioning of ships [C]// Proceedings of the Institution of Mechanical Engineers.Part I: Journal of Systems and Control Engineering,2004, 218(1): 1-12.
[11] Zhang Guozhu, Chen Jie, Lee Zhiping. Adaptive robust control for servo mechanisms with partially unknown states via dynamic surface control approach[J]. IEEE Transactions on Control Systems Technology,2010, 18 (1): 723-731.
[12] Li Tieshan, Wang Dan, Feng Gang, Tong Shaocheng. A DSC approach to robust adaptive NN tracking control for strict-feedback nonlinear systems [J]. IEEE Transactions on Systems, Man, and Cybernetics,Part B: Cybernetics, 2010, 40(3): 915-927.
[13] Chen W S. Daptive backstepping dynamic surface control for systems with periodic disturbances using neural networks [J]. Control Theory and Applications,IET, 2009, 3(10): 1383-1394.
/
| 〈 |
|
〉 |
