Observer-based adaptive robust stabilization of dynamic positioning ship with delay via Hamiltonian method

Abstract

In this paper, by applying the Hamiltonian function method, we study the observer-based adaptive robust stabilization problem for dynamic positioning (DP) ship with time delay, and present several new results on the issue. Firstly, the three degree of freedoms DP ship model with time delay is transformed into a Port-Controlled Hamiltonian (PCH) one, based on which we design its observer system. Then, by using the augmented technology and the Lyapunov stability theory, several observer-based robust stabilization controllers and observer-based adaptive robust stabilization controllers are designed for the DP ship with time delay, and some delay-independent and delay-dependent robust stabilization results are obtained. Finally, the simulation results show the effectiveness of the observer-based robust stabilization controller proposed in this paper.