Global robust and adaptive output feedback dynamic positioning of surface ships
A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer w...
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| Format: | Journal Article |
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Harbin Engineering University
2011
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| Online Access: | http://hdl.handle.net/20.500.11937/55634 |
| _version_ | 1848759670262464512 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships. © 2011 Harbin Engineering University and Springer-Verlag Berlin Heidelberg. |
| first_indexed | 2025-11-14T10:03:34Z |
| format | Journal Article |
| id | curtin-20.500.11937-55634 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T10:03:34Z |
| publishDate | 2011 |
| publisher | Harbin Engineering University |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-556342017-09-13T16:11:24Z Global robust and adaptive output feedback dynamic positioning of surface ships Do, Khac Duc A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships. © 2011 Harbin Engineering University and Springer-Verlag Berlin Heidelberg. 2011 Journal Article http://hdl.handle.net/20.500.11937/55634 10.1007/s11804-011-1076-z Harbin Engineering University restricted |
| spellingShingle | Do, Khac Duc Global robust and adaptive output feedback dynamic positioning of surface ships |
| title | Global robust and adaptive output feedback dynamic positioning of surface ships |
| title_full | Global robust and adaptive output feedback dynamic positioning of surface ships |
| title_fullStr | Global robust and adaptive output feedback dynamic positioning of surface ships |
| title_full_unstemmed | Global robust and adaptive output feedback dynamic positioning of surface ships |
| title_short | Global robust and adaptive output feedback dynamic positioning of surface ships |
| title_sort | global robust and adaptive output feedback dynamic positioning of surface ships |
| url | http://hdl.handle.net/20.500.11937/55634 |