Design of nonlinear adaptive backstepping controller of dynamically positioned ships
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Aiming at the problems of the nonlinear dynamic positioning systems(DPS) with uncertain disturbance,a nonlinear adaptive backstepping controller is proposed using vectorial observer.First,a nonlinear observer was derived,the proposed observer includes an estimation of both the position and velocity of the ship from noisy position measurements.Then the filtered position signal is used,an adaptive backstepping controller with observer is designed for the nonlinear ship.To improve the performance of the ship which has unknown parameter and uncertain dynamic disturbance,integral action is included into backstepping controller.Global asymptotic stability is proven by applying Lyapunov stability theory.Simulation results show that the designed controller is available and valid in ship dynamic positioning.