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
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.
ZHANG Yu-hua 1;2, JIANG Jian-guo1, GAO Deng-ke1 . Dynamic Positioning of Dredgers Using Nonlinear Dynamic Surface Control and Feed-Forward Compensation[J]. Journal of Applied Sciences, 2012 , 30(2) : 203 -208 . DOI: 10.3969/j.issn.0255-8297.2012.02.015
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