Qingtao Gong, Zhipeng Liu, Xin Hu, Yao Teng, Yanqing Han, Guojie Han
{"title":"推力器故障和未知干扰下船舶动态定位鲁棒自适应控制","authors":"Qingtao Gong, Zhipeng Liu, Xin Hu, Yao Teng, Yanqing Han, Guojie Han","doi":"10.1177/14750902231209359","DOIUrl":null,"url":null,"abstract":"The robust adaptive anti-disturbance fault-tolerant control strategy for the dynamic positioning (DP) system of ships is built on the disturbance observer, the adaptive fault observer with the vectorial backstepping approach. The disturbance observer is constructed to estimate the first-order Markov disturbances. The adaptive fault observer with the projection algorithm is designed to estimate partial thruster faults. By employing the vectorial backstepping method, the robust adaptive anti-disturbance fault-tolerant control law is developed to simultaneously achieve the disturbance compensation and the partial thruster fault tolerant. It is demonstrated using the Lyapunov functions that the robust adaptive anti-disturbance fault-tolerant controller can maintain the DP of the ship’s position and heading to achieve the desired value, while guaranteeing the global stability of all signals in the DP closed-loop control system. Finally, different cases in the unknown ocean disturbance environment demonstrate the effectiveness of the robust adaptive anti-disturbance fault-tolerant control strategy.","PeriodicalId":20667,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment","volume":"51 19","pages":"0"},"PeriodicalIF":1.5000,"publicationDate":"2023-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robust adaptive control of dynamic positioning ship under thruster faults and unknown disturbances\",\"authors\":\"Qingtao Gong, Zhipeng Liu, Xin Hu, Yao Teng, Yanqing Han, Guojie Han\",\"doi\":\"10.1177/14750902231209359\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The robust adaptive anti-disturbance fault-tolerant control strategy for the dynamic positioning (DP) system of ships is built on the disturbance observer, the adaptive fault observer with the vectorial backstepping approach. The disturbance observer is constructed to estimate the first-order Markov disturbances. The adaptive fault observer with the projection algorithm is designed to estimate partial thruster faults. By employing the vectorial backstepping method, the robust adaptive anti-disturbance fault-tolerant control law is developed to simultaneously achieve the disturbance compensation and the partial thruster fault tolerant. It is demonstrated using the Lyapunov functions that the robust adaptive anti-disturbance fault-tolerant controller can maintain the DP of the ship’s position and heading to achieve the desired value, while guaranteeing the global stability of all signals in the DP closed-loop control system. Finally, different cases in the unknown ocean disturbance environment demonstrate the effectiveness of the robust adaptive anti-disturbance fault-tolerant control strategy.\",\"PeriodicalId\":20667,\"journal\":{\"name\":\"Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment\",\"volume\":\"51 19\",\"pages\":\"0\"},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2023-11-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1177/14750902231209359\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, MARINE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1177/14750902231209359","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MARINE","Score":null,"Total":0}
Robust adaptive control of dynamic positioning ship under thruster faults and unknown disturbances
The robust adaptive anti-disturbance fault-tolerant control strategy for the dynamic positioning (DP) system of ships is built on the disturbance observer, the adaptive fault observer with the vectorial backstepping approach. The disturbance observer is constructed to estimate the first-order Markov disturbances. The adaptive fault observer with the projection algorithm is designed to estimate partial thruster faults. By employing the vectorial backstepping method, the robust adaptive anti-disturbance fault-tolerant control law is developed to simultaneously achieve the disturbance compensation and the partial thruster fault tolerant. It is demonstrated using the Lyapunov functions that the robust adaptive anti-disturbance fault-tolerant controller can maintain the DP of the ship’s position and heading to achieve the desired value, while guaranteeing the global stability of all signals in the DP closed-loop control system. Finally, different cases in the unknown ocean disturbance environment demonstrate the effectiveness of the robust adaptive anti-disturbance fault-tolerant control strategy.
期刊介绍:
The Journal of Engineering for the Maritime Environment is concerned with the design, production and operation of engineering artefacts for the maritime environment. The journal straddles the traditional boundaries of naval architecture, marine engineering, offshore/ocean engineering, coastal engineering and port engineering.