Robust tracking control for dynamic positioning ships subject to dynamic safety constraints

Liu, Yeye; Lin, Xin; Liang, Kun

doi:10.1016/j.oceaneng.2022.112710

Cited by 14 publications

(3 citation statements)

References 29 publications

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“…By utilizing barrier Lyapunov functions, an asymmetric-constraint DP control scheme was designed in [131]. In [132], the barrier functions were employed to impose time-varying asymmetric constraints on the position and velocity of crafts, thus achieving DP constraint control. In addition, the prescribed performance control (PPC) is capable of limiting tracking errors of vessels, thereby restricting system states [133,134].…”

Section: Constraint Control Designmentioning

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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Section: Constraint Control Designmentioning

confidence: 99%

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

Gao,

2024

JMSE

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“…The maritime environment presents USVs with intricate external disturbances, such as waves, winds, and currents, adding to the challenge. Concurrently, model uncertainties further complicate the endeavor, potentially compromising the formation's stability [3,[11][12][13][14]. Consequently, formation-keeping control stands as a prominent research area in USV formations, with diverse control algorithms and methods meticulously examined to ensure the preservation of predetermined relative positions and spacing, even amidst the volatility of maritime conditions.…”

Section: Introductionmentioning

confidence: 99%

Affine Formation Maneuver Control for Multi-Heterogeneous Unmanned Surface Vessels in Narrow Channel Environments

Liu,

Lin,

Zhang

2023

JMSE

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This paper investigates the affine formation maneuver control for multi-heterogeneous unmanned surface vessels (USV), aiming to enable them to navigate through narrow channels in the near-sea environment. The approach begins with implementing an affine transformation to facilitate flexible configuration adjustments within the formation system. The affine transformation of the entire formation is achieved by controlling the leaders’ positions. Second, this article introduces an anti-perturbation formation tracking controller for the underactuated vessels, which assume the role of leaders, to accurately follow the arbitrary formation transformation. Third, the followers consist of fully actuated vessels with the same kinematic model as the leaders but different dynamic models. This paper utilizes the affine localizability theorem to derive an expected virtual time-varying trajectory based on the leaders’ trajectory. The followers achieve the desired formation maneuver control by tracking this expected virtual time-varying trajectory through an anti-perturbation formation tracking controller. Finally, the efficacy of the introduced control law is confirmed and supported by the results obtained from rigorous simulation experiments.

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“…Nevertheless, the observer requires prior knowledge of disturbances. To avoid this problem, an extended state observer (ESO) is developed for a dynamically positioned vessel in [17]. The observer can estimate velocities, model uncertainty, and external disturbances without using velocity measurements.…”

Section: Introductionmentioning

confidence: 99%

Output Feedback Tracking Control for Vessel with Collision-Avoidance and Performance Constraints

Zhang,

Xia

2023

Applied Sciences

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This manuscript investigates an output feedback-tracking control problem of a dynamically positioned vessel with an input constraint. The vessel is exposed to model uncertainty and external disturbances. Compared with the existing results, the primary contribution is to develop a switch-control strategy for achieving collision avoidance and performance constraints by using an extended state observer (ESO), a collision-avoidance controller (CAC), a prescribed performance controller, and an auxiliary dynamic system (ADS). The switch control strategy combined two different controllers, and an extended state observer (ESO) is designed. The ESO is employed to recover velocity information as well as unknown model uncertainty and external disturbances. A collision-risk-analysis module is introduced to evaluate whether there exists a risk of collision avoidance. Based on the analysis, the CASC can choose between a CAC and a PPC. An ADS is constructed to handle the input constraints. The CAC is employed by using an artificial potential function, the ADS, and the ESO. The PPC is designed based on an error constraint function, the ADS, and the ESO. The stability of the closed-loop control system is analyzed based on the Lyapunov direct method. Simulations prove the effectiveness of the presented control strategy.

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Robust tracking control for dynamic positioning ships subject to dynamic safety constraints

Cited by 14 publications

References 29 publications

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

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

Affine Formation Maneuver Control for Multi-Heterogeneous Unmanned Surface Vessels in Narrow Channel Environments

Output Feedback Tracking Control for Vessel with Collision-Avoidance and Performance Constraints

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