Backstepping Control Using Barrier Lyapunov Function for Dynamic Positioning Control System with Passive Observer
Joint Authors
Xue, Jingjing
Zhao, Bo
Sun, Chuang
Xia, Guoqing
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-02-03
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Xia, Guoqing& Xue, Jingjing& Sun, Chuang& Zhao, Bo. 2019. Backstepping Control Using Barrier Lyapunov Function for Dynamic Positioning Control System with Passive Observer. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-9.
https://search.emarefa.net/detail/BIM-1197820
Modern Language Association (MLA)
Xia, Guoqing…[et al.]. Backstepping Control Using Barrier Lyapunov Function for Dynamic Positioning Control System with Passive Observer. Mathematical Problems in Engineering No. 2019 (2019), pp.1-9.
https://search.emarefa.net/detail/BIM-1197820
American Medical Association (AMA)
Xia, Guoqing& Xue, Jingjing& Sun, Chuang& Zhao, Bo. Backstepping Control Using Barrier Lyapunov Function for Dynamic Positioning Control System with Passive Observer. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-9.
https://search.emarefa.net/detail/BIM-1197820
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197820