Abstract
In this paper, the adaptive robust simultaneous stabilization problem of two ships is studied. Firstly, the water surface three-degree-of-freedom ship models are transformed into port-controlled Hamiltonian (PCH) models. Using a single output feedback controller, the two PCH systems are combined to generate an enhanced PCH system based on Hamiltonian structural attributes. Then, considering the situation with both external interference and structural parameter perturbation in the systems, an adaptive robust output feedback controller is designed to stabilize the two systems simultaneously. Finally, the effectiveness of the controller proposed in this paper is illustrated by a simulation example.
Highlights
Dynamic positioning (DP) refers to maintaining an ocean vehicle on the surface of the sea at an accurate positioning by using its own power system and various propellers installed independently without the aid of a mooring system [1]
In the mid-1970s, Balchen et al proposed a dynamic positioning control method based on modern control theory, i.e., the second generation dynamic positioning system, which combines optimal control with Kalman filtering theory
The third generation dynamic positioning system has adopted the theory and method of intelligent control, which makes the dynamic positioning control further develop toward the direction of intellectualization
Summary
Dynamic positioning (DP) refers to maintaining an ocean vehicle on the surface of the sea at an accurate positioning by using its own power system and various propellers installed independently without the aid of a mooring system [1]. The Hamilton function method is proposed to study the simultaneous stabilization problem of two ships’ dynamic positioning and the simultaneous stabilization; adaptive simultaneous stabilization, and adaptive robust simultaneous stabilization conditions are established, and the corresponding simultaneous stabilization controllers are designed. (2) Unlike recent literature [12,13,14,15,16,17] on the simultaneous stabilization problem, the present paper studies the dynamic positioning problem of two ships, and develops some simultaneous stabilization, robust simultaneous stabilization, and adaptive robust simultaneous stabilization results based on the PCH model method. In [15,16,17], by using the Lyapunov-Krasovskii functional and matrix inequality methods, the authors designed corresponding feedback controllers to study the simultaneous stabilization control problem for a class of nonlinear time-delay systems.
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