TD-Based Adaptive Output Feedback Control of Ship Heading with Stochastic Noise and Unknown Actuator Dead-Zone Input

Yanli Liu,Yuechao Zhao,Runzhi Wang,Dongdong Mu

doi:10.3390/app12041985

Abstract

To meet the demand of ship control, a new heading control tactic is explored using switching theory. Different from the previous results, the stochastic noise and switched control are considered in the Norrbin nonlinear mathematical model concurrently to discuss ship heading control. Then, for the resulting systems, the adaptive control issue is addressed, while the dead-zone input is embedded and unknown. By establishing switched state observers for the corresponding subsystems, the conservatism of the common state observer can be reduced greatly, and the analysis can be achieved under the switching signal satisfying the average dwell time (ADT). The “explosion of terms” problem occurring in the backstepping technique is well remedied via an innovative tracking differentiator (TD) technology, which is an innovation in itself. According to the theory proof, under the developed control tactic, the resulting signals are then to be bounded in probability, with the tracking goal being achieved well. The theoretical design result was analyzed, and the corresponding validity is given through simulation experiments.

Highlights

The shipping industry is vigorously developing, and ship transport has become one of the most effective and economical transportation methods to fulfill the trading of bulk goods between regions and countries, so the study of ship control has vital value [1,2,3,4]
In addition to the usual methods, such as dynamic surface control (DSC) [17,18], it can be seen that the above problem was managed by the tracking differentiator (TD) technique in [19,20], and the expected control target was successfully achieved
It is a very challenging problem to combine the auxiliary dead-zone compensation with the switching events and apply it to the ship heading tracking control design with stochastic disturbance, which is an important open issue to investigate in the ship control area

Summary

Introduction

The shipping industry is vigorously developing, and ship transport has become one of the most effective and economical transportation methods to fulfill the trading of bulk goods between regions and countries, so the study of ship control has vital value [1,2,3,4]. It is a very challenging problem to combine the auxiliary dead-zone compensation with the switching events and apply it to the ship heading tracking control design with stochastic disturbance, which is an important open issue to investigate in the ship control area. This work intends to propose a useful adaptive control tactic for ship heading under unknown actuator dead-zone input described by the switched stochastic nonlinear model. Such research has more practical significance and value than that of deterministic disturbances on the safe navigation of a ship, since there are too many stochastic factors during the voyage; The adaptive TD control tactics combined with the compensation signal smooths the “explosion of terms” occurring in the work [17,35]. The tracking goal of the considered ship heading was achieved with an improved control performance, which ensures safe and stable sailing

System Model

Control Objective

Adaptive Output Feedback Control Design

Stability Analysis

Simulation Study and Discussion

Conclusions