Adaptive Finite Time Dynamic Positioning Control of Fully-actuated Ship With Servo System Uncertainties

作者：Zhang, Guo Qing; Huang, Chen Feng; Wu, Xiao Xue; Zhang, Xian Ku^*

来源：Acta Automatica Sinica, 2018, 44(10): 1907-1912.

DOI：10.16383/j.aas.2017.c170111

• Adaptive Control
• Adaptive terminal sliding modes
• Environmental disturbances
• Finite time
• Finite-time stable
• Positioning control
• System uncertainties
• Terminal sliding mode

In order to tackle the dynamic positioning problem of fully actuated ships, an adaptive terminal sliding mode control scheme is proposed by assuming that the upper bound of ship model's uncertainties and environmental disturbances are known and by constructing the non-singular terminal sliding manifold (NTSM) through error dynamics. Considering the servo system gain uncertainties, the unknown thrust constant matrix is transformed into reciprocal and parametric adaptive method is used to make sure that the position and yaw angle of fully actuated ships can converge to the desired values in a finite time, and the closed-loop system is practically finite-time stable (PFS). Simulation results of a supply vessel show the effectiveness of the adaptive terminal sliding mode control scheme.

• 出版日期2018
• 单位上海交通大学