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Asymptotic Regulation of Dynamically Positioned Vessels with Unknown Dynamics and External Disturbances

Published online by Cambridge University Press:  18 June 2019

Xin Hu Open the ORCID record for Xin Hu [Opens in a new window] ,
Jialu Du Open the ORCID record for Jialu Du [Opens in a new window] ,
Jian Li  and
Yuqing Sun
Xin Hu
Affiliation:
(School of Marine Electrical Engineering, Dalian Maritime University, Dalian, Liaoning, 116026, China)
Jialu Du*
Affiliation:
(School of Marine Electrical Engineering, Dalian Maritime University, Dalian, Liaoning, 116026, China)
Jian Li
Affiliation:
(School of Marine Electrical Engineering, Dalian Maritime University, Dalian, Liaoning, 116026, China)
Yuqing Sun
Affiliation:
(School of Marine Engineering, Dalian Maritime University, Dalian, Liaoning, 116026, China)
*
E-mail: dujl@dlmu.edu.cn
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Abstract

A robust adaptive nonlinear asymptotic regulating control law is designed for dynamically positioned vessels exposed to unknown time-varying external disturbances incorporating Fuzzy Logic Systems (FLSs), projection operators, and the “robustifying” term into the vectorial backstepping technique. The FLSs approximate the vessel unknown dynamics and the update laws based on the online projection operators update the fuzzy weight vectors. The robustifying term handles the external disturbances and the fuzzy approximation errors. The designed Dynamic Positioning (DP) control law achieves asymptotic regulation of the vessel's position and heading and makes the other signals in the DP closed-loop control system of vessels be uniformly ultimately bounded. Simulations based on the Marine System Simulator toolbox validate the designed DP control law.

Keywords

Dynamic positioningUncertaintiesVectorial backsteppingAsymptotic regulation
Type
Research Article
Information
The Journal of Navigation , Volume 73 , Issue 2 , March 2020 , pp. 253 - 266
Copyright
Copyright © The Royal Institute of Navigation 2019

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