Backstepping control using barrier Lyapunov function for dynamic positioning control system with passive observer

DOI10.1155/2019/8709369MaRDI QIDQ2298924zbMATH OpenOpenAlexWikidataFDO

Authors Guoqing Xia, Jingjing Xue, Chuang Sun, Bo Zhao

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/8709369

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Review text

Summary: This paper presents a backstepping controller using barrier Lyapunov function (BLF) for dynamic positioning (DP) system. For safety reasons, the position and heading of DP ship are to be maintained in certain range. Thus, in this paper, a control law based on BLF and backstepping technique is proposed to limit the position and heading. The closed-loop system is proved stable in the sense of Lyapunov stability theories. In addition, since the velocities of ship are not measurable and the wave frequency (WF) motion is unavailable, a passive observer is adopted to estimate the velocities and the effect of WF motion. The simulation results show that the proposed controller can limit the position and heading of the vessel in a predefined range and verify the performance of the proposed controller and the passive observer.

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Cites work

• Adaptive neural output feedback control of stochastic nonlinear systems with unmodeled dynamics
• Barrier Lyapunov functions for Nussbaum gain adaptive control of full state constrained nonlinear systems
• Barrier Lyapunov functions-based adaptive control for a class of nonlinear pure-feedback systems with full state constraints
• Robust adaptive path-following control of underactuated marine vessel with off-track error constraint
• Robust dynamic positioning of ships with disturbances under input saturation

Cited in

(3)

• Robust nonlinear observer and observer-backstepping control design for surface ships
• scientific article; zbMATH DE number 5585028 (Why is no real title available?)
• Inverse optimal backstepping control of dynamic positioning ships

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