Dynamic positioning control of ships via relay observer design

被引：0

作者：

Javier, MV ^{[1
]}

Leonardo, AZ ^{[1
]}

机构：

[1] IPN, Ctr Invest & Desarrollo Tecnol Digital, CITEDI, Tijuana, BC, Mexico

来源：

ASIAN JOURNAL OF CONTROL | 2004年 / 6卷 / 03期

关键词：

ships; positioning control; relay observers; asymptotic stability;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A dynamically positioned ship maintains its position (fixed location or predetermined track) exclusively by means of active thrusters. In this paper, a control scheme for dynamic positioning control of ships using a relay observer design is presented. Our analysis relies on nonsmooth strict Lyapunov functions to demonstrate global asymptotic stability of the closed-loop system equilibrium. Using simulation results we illustrate the good performance of the proposed scheme under noisy ship position measurements.

引用

页码：398 / 406

页数：9

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