NDLI: Practical constrained dynamic positioning control for uncertain ship through the minimal learning parameter technique

Content Provider	IET Digital Library
Author	Zhang, Guoqing Huang, Chenfeng Zhang, Xianku Zhang, Weidong
Abstract	In this note, a novel adaptive constrained control algorithm is proposed for dynamic positioning vessels in the presence of input amplitude and rate saturations. In the scheme, both kinematics and kinetics loops are augmented by the auxiliary system to deal with the saturation impact. Meanwhile, for merits of the command filters and minimal leering parameter technique, the cumbersome analytic derivatives of the virtual control law need not be required in the control design, and only two adaptive parameters are updated online to stabilise the effect of the model uncertainty and the external disturbance for each subsystem. Using the Lyapunov theory, the semi-global uniformly ultimately bounded is proved for the closed-loop system. The effectiveness and robustness of the proposed algorithm are demonstrated by the numerical example in the presence of the simulated marine disturbance.
Starting Page	2526
Ending Page	2533
Page Count	8
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 18, Dec (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/18
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.5036
Journal	IET Control Theory & Applications
Publisher Date	2018-10-03
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Constrained Control Algorithm Adaptive Control Auxiliary System Closed Loop System Closed-loop System Command Filter Control Design Control System Analysis Control System Synthesis Dynamic Positioning Vessels Input Amplitude Kinematics Loops Kinetics Loops Learning in AI Lyapunov Method Lyapunov Theory Marine Control Marine System Control Minimal Learning Parameter Technique Neurocontrol Neurocontrollers Position Control Rate Saturation Robust Control Robustness Self Adjusting Control System Ships Spatial Variables Control Stability in Control Theory Synthesis Method Uncertain Ship Uncertain System Virtual Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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