Can I read Finite-time Disturbance Observer-based Dynamic Positioning Control with Prescribed Performance for Surface Vessels on EtoBox?

Finite-time Disturbance Observer-based Dynamic Positioning Control with Prescribed Performance for Surface Vessels by Gong, Chenglong (author);Su, Yixin (author);Zhu, Quanxin (author);Zhang, Danhong (author) is a scholarly article available to read on EtoBox.

What is Finite-time Disturbance Observer-based Dynamic Positioning Control with Prescribed Performance for Surface Vessels about?

Abstract This paper investigates the dynamic positioning (DP) control problem of surface vessels with input saturation, external disturbances and error constraints, and a finite-time disturbance observer-based DP control law with prescribed performance is proposed. First, a smooth saturation approximation model is constructed to avoid input saturation, which integrates a stable auxiliary system to transform the design problem of the DP control law into the design problem of an auxiliary control signal. Next, by introducing an auxiliary dynamic, a finite-time disturbance observer is designed to estimate the external disturbance, and it is proved that the estimation error can converge to zero in finite-time. Specially, an adaptive update law is constructed to estimate the upper bound of the derivative of external disturbances, which releases the requirement for the prior knowledge of the disturbance in the observer design. Then, combined with finite-time performance functions and error transformation functions, a prescribed performance dynamic surface control (DSC) strategy is designed to realize the surface vessel's prescribed performance control with guaranteed transient and steady

Author

Gong, Chenglong (author);Su, Yixin (author);Zhu, Quanxin (author);Zhang, Danhong (author)

Publisher

Research Square Platform LLC

Published

2022

Language

EN