Finite-Time Control of Dynamic Positioning Vessel Based on Disturbance Observer

In this paper, a finite-time controller is proposed for dynamic positioning vessels with error constraints and prescribed performance. A nonlinear observer is employed to give the estimations of the unknown disturbances containing an uncertain model, and the estimation errors converge to the equilib...

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Bibliographic Details
Published in:Mathematical problems in engineering 2022-08, Vol.2022, p.1-11
Main Authors: Xia, Guoqing, Zhang, Benwei
Format: Article
Language:English
Subjects:
Control algorithms
Control theory
Controllers
Coordinate transformations
Disturbance observers
Neural networks
Vessels
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Summary:In this paper, a finite-time controller is proposed for dynamic positioning vessels with error constraints and prescribed performance. A nonlinear observer is employed to give the estimations of the unknown disturbances containing an uncertain model, and the estimation errors converge to the equilibrium point in a finite time. A finite-time controller is developed based on the nonlinear observer. Finally, the effectiveness of the proposed control strategies is demonstrated by simulation.
ISSN:1024-123X
1563-5147
DOI:10.1155/2022/9262457