Robust adaptive multistage anti-windup dynamic surface control for dynamic positioning ships with mismatched disturbance |
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| Authors: | Kun Liang Xiaogong Lin Yu Chen Wenli Zhang Juan Li |
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| Institution: | 1. School of Intelligent Engineering, Zhengzhou University of Aeronautics, Zhengzhou, China;2. College of Automation, Harbin Engineering University, Harbin, China;1. School of Science and Technology, Mathematics Division, University of Camerino, Via Madonna delle Carceri 9, 62032 Camerino MC, Italy;2. Department of Engineering Cybernetics, NTNU, Trondheim 7491, Norway;3. Dipartimento di Ingegneria Civile e Ingegneria Informatica, University of Rome Tor Vergata, 00133 Rome, Italy;4. Energy Resources Engineering Department, Stanford University, CA 94305, USA;5. Dipartimento di Ingegneria Industriale, University of Trento, 38123 Trento, Italy;6. LAAS-CNRS, CNRS, Université de Toulouse, Toulouse 31400, France;1. Department of Engineering, University of Leicester, Leicester LE1 7RH, UK;2. Deimos Space SL, Madrid 28760, Spain;1. Departamento de Engenharia Elétrica e de Computação, Universidade Federal da Bahia Escola Politécnica, Rua Aristides Novis, 02, Federação, Salvador, Brazil;2. Departamento de Automação, Centro Universitário SENAI CIMATEC Av. Orlando Gomes, 1845- Piatã, Salvador, Brazil;3. Departamento de Engenharia Elétrica, Universidade Federal do Ceará, Campus do Pici, Bloco 705, Fortaleza, Brazil;1. School of Mathematics and Statistics Science, Ludong University, Yantai, Shandong 264025, China;2. College of Automation, Harbin University of Science and Technology, Harbin, Heilongjiang 150080, China;3. Navigation College, Shandong Jiaotong University, Weihai, Shandong 264209, China |
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| Abstract: | In this paper, a novel robust adaptive multistage anti-windup control strategy is developed for dynamic positioning ships in presence of input constraint, mismatched disturbance and external disturbance. Based on dynamic surface control technique, a composite control law, where both mismatched and matched disturbances are compensated, is established to stabilize the system without the requirement of solving any partial differential equations. In particularly, the mismatched disturbance caused by the model transformation is analyzed firstly and the better steady performance is achieved. In addition, a novel multistage anti-windup control based on anticipatory activation compensation is constructed to handle the input constraint while the transient performance is improved significantly. Moreover, the stability of the closed-loop system is proven via Lyapunov technique rigorously, and the tracking error can be forced into an arbitrarily small neighborhood around zero. Finally, simulations with comparisons demonstrate the effectiveness of the proposed method. |
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