Fixed time prescribed performance dynamic positioning control design for surface vessels

Gong, Chenglong; Su, Yixin; Jia, Fujin; Zhang, Danhong; Hu, Xin

doi:10.1016/j.oceaneng.2023.115615

Cited by 2 publications

(3 citation statements)

References 43 publications

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“…devised a fixed‐time prescribed performance DP control strategy, achieving fixed‐time convergence of the system, with the convergence time solely depending on design parameters. [ 29 ] Moreover, Wang et al. designed an event‐based prescribed performance control scheme to address the complex task of trajectory tracking control for DP ships operating under time‐varying sea loads, but the design of its performance function is excessively intricate, making the designed algorithm challenging to apply in practical engineering.…”

Section: Introductionmentioning

confidence: 99%

Dual‐Loop Control Design for Dynamic Positioning Ships with Prescribed Performance

Gong,

Su,

et al. 2023

Advcd Theory and Sims

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Dynamic positioning (DP) system is an advanced positioning system widely used in various special operation ships, and the design of control strategies to cope with different constraint conditions is the core technology of DP system research. In this study, a novel dual‐loop control law is proposed to effectively tackle the control challenges encountered by DP ships, particularly in the presence of input saturation and error constraints. Firstly, a saturation handling model is designed to avoid input saturation in the system. Subsequently, a dual‐loop DP control scheme is developed. The outer‐loop is responsible for the ship's position and heading control, while concurrently providing the command velocity signal essential for the inner‐loop. Specifically, a prescribed performance control strategy is designed in the outer‐loop to ensure precise control over positioning errors within predefined ranges and achieve desirable transient and steady‐state performance. The inner‐loop controls the ship's velocity signal, in which a feedback control law is designed based on Hamilton‐Jacobi‐Issacs (HJI) inequality to estimate generalized faults of the DP system. Finally, the proposed control law is validated through numerical simulations on a 76.2 m supply ship, demonstrating superior transient and steady‐state performance compared to existing methods.

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Section: Introductionmentioning

confidence: 99%

Dual‐Loop Control Design for Dynamic Positioning Ships with Prescribed Performance

Gong,

Su,

et al. 2023

Advcd Theory and Sims

Self Cite

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“…Anti-disturbance control based on the disturbance observer (DO) [16,[77][78][79][80][81][82][83][84]: As it is known that ocean disturbances can be considered slow and bounded disturbances [77], DO can use auxiliary states to estimate unknown disturbances, and has excellent capabilities in handling slow and variation rate bounded disturbances. Therefore, DP control based on DO has made rapid progress [16,77,78,80,81].…”

mentioning

confidence: 99%

“…Therefore, DP control based on DO has made rapid progress [16,77,78,80,81]. Experts and scholars have improved DP control based on finite-time DO [15,17,82] and fixed-time DO [83,84] compared to the general form of DO.…”

mentioning

confidence: 99%

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Gao,

2024

JMSE

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This paper surveys the recent advances in dynamic positioning (DP) control for marine crafts. DP of marine crafts means that a craft can maintain a fixed position and heading, or move along a predetermined trajectory slowly without the anchoring system, using only its own thruster system to counteract ocean disturbances. The survey is by no means exhaustive but provides a survey of some of the major technological advancements in DP controller design over the years of research and development. Firstly, the model of marine crafts and some difficult problems in DP control are introduced including the impact of multiple source disturbance, unavailable velocity measurement information, resource conservation and performance optimization, destabilizing impact of faults and network security and compound multi-constraint restrictions. Then, the DP control schemes in recent years are summarized and classified in detail. Finally, some theoretical and technical problems are proposed, including online data-driven model-free control, man–machine combination intelligent control and composite hierarchical anti-disturbance control to guide future investigations.

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Fixed time prescribed performance dynamic positioning control design for surface vessels

Cited by 2 publications

References 43 publications

Dual‐Loop Control Design for Dynamic Positioning Ships with Prescribed Performance

Dual‐Loop Control Design for Dynamic Positioning Ships with Prescribed Performance

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

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