船舶动力定位系统的滑模观测器设计

Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI:10.1109/ICICIP.2014.7010330

Dayu Xu, Jia-lu Du, Xin Hu, Hui Li

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引用次数: 4

摘要

动态定位船在海上油田勘探中有着广泛的应用。状态估计是动态定位系统的一个重要特征。利用滑模观测器结构原理，针对存在未知外部干扰的船舶动力定位系统，提出了一种滑模观测器。所提出的滑模观测器可以估计船舶的位置和速度。证明了观测器误差动力学是全局渐近稳定的。最后，对一艘补给舰进行了仿真，验证了滑模观测器在舰船动态定位系统中的有效性。

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Sliding mode observer design for ship dynamic positioning systems

Dynamically positioned vessels are widely used in the exploration of offshore oilfield. State estimation is an important feature of a dynamic positioning system. A sliding mode observer is proposed for ship dynamic positioning systems in the presence of unknown external disturbances by using sliding mode observer structural principle. The proposed sliding mode observer can estimate positions and velocities of ships. The observer's error dynamics is proven globally asymptotically stable. Finally, the simulation results on a supply ship show the effectiveness of the sliding mode observer for ship dynamic positioning systems.

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Fifth International Conference on Intelligent Control and Information Processing

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