Global robust and adaptive output feedback dynamic positioning of surface ships

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 4271-4276

  Do, K D ^a  

^a UNIVERSITY OF WESTERN AUSTRALIA   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; DYNAMIC POSITIONING; LYAPUNOV FUNCTIONS; PARAMETER ESTIMATION; VELOCITY MEASUREMENT;

ADAPTIVE OBSERVERS; ADAPTIVE OUTPUT FEEDBACK DYNAMIC POSITIONING; CONSTRUCTIVE METHOD; SURFACE SHIPS;

FEEDBACK CONTROL;

EID: 36348995496     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.364136     Document Type: Conference Paper

References (17)

1. J. G. Baichen, N. A. Jenssen, and S. Sllid, "Dynamic positioning of floating vessels based, on kalman filtering and optimal control," Proc. 19th IEEE Conf. Decision Contr., 1980.
2. M. J. Grimble, R. J. Patton, and D. A. Wise, "The design of dynamic positioning control systems using stochastic optimal control theory," Optimal Contr. Applicat. Methods, vol. 1, pp. 167-202, 1980.
3. A. J. Sorensen, S. I. Sagatun, and T. I. Fossen, "Design of a dynamic positioning system using model-based control," J. Contr. Eng, Practice, vol. 4, no. 3, pp. 359-368, 1996.
4. T. I. Fossen and J. P. Strand, "Passive nonlinear observer design for ships using lyapunov methods: full-scale experiments with as supply vessel;" Automatica, vol. 35, pp. 3-16, 1999.
5. T. L Fossen and A. Grovlen, "Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping," IEEE Transactions on Control Systems Technology, vol. 6. no. 1, pp. 121-128, 1998.
6. H. Khalil, Nonlinear systems. Prentice: Hall, 2002.
7. M. Krstic, I. Kanellakopoulos, and P. Kokotovic, Nonlinear and adaptive control design. New York: Wiley, 1995.
8. T. I. Fossen and J. P. Strand, "Nonlinear passive weather optimal positioning control (wopc) system for ships and rigs: Experimental results," Automatica, vol. 37, pp. 701-715, 2001.
9. K. Do, Z. Jiang, and J. Pan, "Universal controllers for stabilization and tracking of underactuated ships," Systems and Control Letters, vol. 47, pp. 299-317, 2002.
10. K. D. Do, Z. P. Jiang, and J. Pan, "Global partial-state feedback and output-feedback tracking controllers, for underactuated ships," Systems and Control Letters, vol. 54, pp. 1015-1-36, 2005.
11. K. D. Do and J. Pan, "Underactuated ships follow smooth paths with integral actions and without velocity measurements for feedback: Theory and experiments," IEEE Transactions on Control Systems Technology, vol. 14, pp. 308-322, 2006.
12. A. J. Sorensen, B. Leira, J. P. Strand, and C. M. Larsen, "Optimal setpoint chasing in dynamic positioning of deep-water drilling and intervention vessels," International Journal of Robust and Nonlinear Control, vol. 11, pp. 1187-1205, 2001.
13. A. J. Soresen, "Structural issues in the design and operation of marine control systems," Annual Reviews in Control, vol. 29, pp. 125-149, 2005.
14. T. I. Fossen, Marine control systems. Trondheim, Norway: Marine Cybernetics, 2002.
15. SNAME, "The society of naval architects and marine engineers: Nomenclature for treating the motion of a Sub-merged body through a fluid," Technical and Research Bulletin, pp. 1-5, 1950.
16. H. Nijmeijer and T. I. Fossen, New directions in nonlinear observer design. London: Springer-Verlag, 1999.
17. K. D. Do and F. DeBoer, "Smooth projection robust adaptive nonlinear control of uncertain time varying nonlinear systems," ISA, vol. 2, pp. 988-994, 2000.