[1] Zhang Yuhua, Jiang Jianguo, Gao Dengke, et al. Novel disturbance compensating dynamic positioningof dredgers based on adaptive backstepping [J]. Journal of Southeast University (English Edition), 2011, 27 (1): 36-39. [doi:10.3969/j.issn.1003-7985.2011.01.008]

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Novel disturbance compensating dynamic positioningof dredgers based on adaptive backstepping()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

27

Issue:

2011 1

Page:

36-39

Research Field:

Instrument Science and Technology

Publishing date:

2011-03-30

Info

Title:

Novel disturbance compensating dynamic positioningof dredgers based on adaptive backstepping

Author(s):

Zhang Yuhua¹;  2;  Jiang Jianguo¹;  Gao Dengke¹

¹Key Laboratory of Control of Power Transmission and Transformation of Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China
²School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China

Keywords:

dynamic positioning(DP);  adaptive backstepping;  nonlinear control;  dredger;  disturbance compensating

PACS:

U666

DOI:

10.3969/j.issn.1003-7985.2011.01.008

Abstract:

In order to deal with the dynamic positioning system control problems of dredgers working under strong dredging reaction or harsh environments, an adaptive backstepping method is proposed. Disturbances are estimated and compensated for by the adaptive method without extra sensors on dredging equipment, and the control mechanism is simplified. Adaptive control is used to compensate for the reaction and environmental disturbances on the dredger, so the dredger can maintain the desired position with a minimum error and shock. The proposed adaptive robust controller guarantees the global asymptotic stability of the closed-loop system and rapid position tracking of the dredger. The simulation results show that the proposed controller has superior performance in position tracking and robustness to large disturbances.

References:

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Memo

Memo:

Biographies: Zhang Yuhua(1975—), male, graduate, associate professor; Jiang Jianguo(corresponding author), male, professor, jiang@sjtu.edu.cn.
Foundation items: The National Basic Research Program of China(973 Program)(No.2005CB221505), Open Fund of Provincial Open Laboratory for Control Engineering Key Disciplines(No.KG2009-02).
Citation: Zhang Yuhua, Jiang Jianguo, Gao Dengke.Novel disturbance compensating dynamic positioning of dredgers based on adaptive backstepping[J].Journal of Southeast University(English Edition), 2011, 27(1):36-39.[doi:10.3969/j.issn.1003-7985.2011.01.008]

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