Passivity-based control applied to the dynamic positioning of ships

Abstract

Abstract:A family of passivity-based controllers for dynamic positioning of ships is presented. The authors exploit the idea of shaping the energy function of the closed-loop system to obtain different formulations of the passivity-based control law using the interconnection and damping assignment-passivity-based control (IDA-PBC) methodology. A salient feature of this study is that the proposed control laws are output feedback controllers and the relative velocity measurement is not required. First, we design and analyse two static controllers which can be seen as a non-linear version of the conventional proportional-derivative (PD) controllers. In presence of unknown disturbances, these controllers do not provide the desired regulation properties. To remove this discrepancy we propose, also in the context of the IDA-PBC technique, a dynamic extension of the system and obtain two new controllers that have the desired regulation properties. These new control laws can be seen as a non-linear version of the conventional proportional-integral-derivative (PID) controllers. Simulations are included to validate the theoretical results.

Dynamic positioning of an uninhabited surface vehicle using state-dependent Riccati equation and pseudospectral method

“…This controller was robust and easily tuned compared to PID controller. Muhammad and Doria-Cerezo (2012) proposed a passivity-based control method. The vessel model was rewritten as a port-Hamiltonian description, then an interconnection and damping assignmentpassivity-based control (IDA-PBC) method based on port-Hamiltonian framework was presented.…”

Advanced control for fault-tolerant dynamic positioning of an offshore supply vessel

“…A procedure for attenuating the control law of a vessel dynamic positioning system, based on the observer backstepping methodology, is proposed in Morishita and Souza (2014) and a port-Hamiltonian framework to design a nonlinear set-point-regulation controller with integral action is presented in Donaire and Perez (2012). A family of passivity-based controllers for dynamic positioning of ships is considered in Muhammad and Dòria-Cerezo (2012). As with other technological systems, a DP system is subject to fault (e.g.…”

Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents

“…It has been proven that the underactuated AUV system does not satisfy the necessary conditions of Brockett and therefore cannot be stabilized by any time-invariant continuous state feedback controller [19]. Therefore, significant attention on behalf of researchers all over the world has promoted the development of advanced control technologies for point stabilization and the dynamic positioning control of the AUV in recent decades, and various control approaches have been proposed in the literature [16,[20][21][22][23][24][25].…”

“…Several types of hybrid controllers for the high level control of point stabilization systems are developed in [22], which includes multi-output PID controllers with position measurements and multi-output PID combining acceleration feedback controllers with position and acceleration measurements. In addition, a new modified linear quadratic Guass (LQG) feedback controller and a model reference feedforward controller are applied to the model-based point stabilization system in [23]; a port-Hamiltonian framework is used to design a nonlinear point stabilization controller with integral action in [24] and a passivity-based controller for the point stabilization of marine vehicles is presented in [25].…”