Adaptive output feedback control for cooperative dynamic positioning of multiple offshore vessels

This paper considers cooperative dynamic positioning (CDP) of multiple offshore vessels in the presence of dynamical uncertainties, time-varying ocean disturbances and unmeasured velocity, aimed at collectively holding a relative formation and reaching a reference position. K-filter observers are first designed to estimate the unmeasured velocity information of each vessel, and then observer based CDP controllers are developed with the aid of dynamic surface control (DSC) technique, neural network and iterative learning approach. The formation among vehicles can be guaranteed if the graph induced by the vessels and the reference point contains a spanning tree. It is proved by Lyapunov analysis that the proposed control laws can ensure that all the signals in the closed-loop systems are uniformly ultimately bounded, and tracking errors converge to a small neighborhood of origin.

[1]  Arnau Dòria Cerezo,et al.  Output feedback passivity based controllers for dynamic positioning of ships , 2010 .

[2]  Asgeir J. Sørensen,et al.  A survey of dynamic positioning control systems , 2011, Annu. Rev. Control..

[3]  Jens G. Balchen,et al.  A DYNAMIC POSITIONING SYSTEM BASED ON KALMAN FILTERING AND OPTIMAL CONTROL , 1980 .

[4]  A. P. Aguiar,et al.  Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[5]  Michael J. Grimble,et al.  The design of dynamic ship positioning control systems using stochastic optimal control theory , 1980 .

[6]  Helio Mitio Morishita,et al.  Dynamic positioning systems: An experimental analysis of sliding mode control , 2010 .

[7]  Thor I. Fossen,et al.  Marine Control Systems Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles , 2002 .

[8]  Richard M. Murray,et al.  Recent Research in Cooperative Control of Multivehicle Systems , 2007 .

[9]  João P. Hespanha,et al.  Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty , 2007, IEEE Transactions on Automatic Control.

[10]  Daniele Bertin,et al.  Dynamic Positioning of a “Single-Thruster” Vessel by Feedback Linearization , 2000 .

[11]  João Pedro Hespanha,et al.  Switching between stabilizing controllers , 2002, Autom..

[12]  João P. Hespanha.  Tutorial on Supervisory Control , 2001 .

[13]  Yong-Kon Lim,et al.  Point-to-point navigation of underactuated ships , 2008, Autom..

[14]  Y Inoue,et al.  COMPUTER SIMULATIONS ON THRUST ASSISTED FUZZY DYNAMIC POSITIONING SYSTEM OF FLOATING BODY , 1994 .

[15]  Asgeir J. Sørensen,et al.  Robust Dynamic Positioning of Offshore Vessels Using Mixed-μ Synthesis, Part I: A Control System Design Methodology , 2012 .

[16]  Zhouhua Peng,et al.  Robust adaptive formation control of underactuated autonomous surface vehicles with uncertain dynamics , 2011 .

[17]  Karl-Petter Lindegaard,et al.  Acceleration Feedback in Dynamic Positioning , 2003 .

[18]  Asgeir J. Sørensen,et al.  Design of a dynamic positioning system using model-based control , 1995 .

[19]  Thor I. Fossen,et al.  Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with a supply vessel , 1999, Autom..

[20]  Thor I. Fossen,et al.  Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping , 1998, IEEE Trans. Control. Syst. Technol..

[21]  Helio Mitio Morishita,et al.  SLIDING MODE CONTROL APPLIED TO OFFSHORE DYNAMIC POSITIONING SYSTEMS , 2009 .

[22]  Antonio Loría,et al.  A separation principle for dynamic positioning of ships: theoretical and experimental results , 2000, IEEE Trans. Control. Syst. Technol..