Robust output feedback control for dynamic positioning of turret-moored vessels based on bio-inspired state observer and online constructive fuzzy system
This paper investigates the dynamic positioning control of turret-moored vessels with uncertainties, unknown disturbances and velocities. Firstly, a bio-inspired state observer is proposed based on the bio-inspired neural dynamics model to estimate unknown velocities without vessel dynamics model. M...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2022-01-01
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| Series: | International Journal of Naval Architecture and Ocean Engineering |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2092678222000061 |
| _version_ | 1811183055449096192 |
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| author | Yulong Tuo Shasha Wang Chen Guo Shuang Gao |
| author_facet | Yulong Tuo Shasha Wang Chen Guo Shuang Gao |
| author_sort | Yulong Tuo |
| collection | DOAJ |
| description | This paper investigates the dynamic positioning control of turret-moored vessels with uncertainties, unknown disturbances and velocities. Firstly, a bio-inspired state observer is proposed based on the bio-inspired neural dynamics model to estimate unknown velocities without vessel dynamics model. Meanwhile, an online constructive fuzzy approximator is designed to approximate uncertainties and unknown disturbances. To ensure fuzzy rules adequate and parsimonious, an online constructive scheme is proposed to adjust the fuzzy system structure without any prior knowledge. Based on the designed state observer and fuzzy approximator, a reliability-based robust output-feedback controller is proposed to make the reliability and heading converge to desired values. A reliability-based matrix is applied into the adaptive fuzzy parameter update law to simplify the stability analysis of closed-loop control system. The convergence of reliability can ensure full utilization of mooring system to maintain the vessel within allowable region. Finally, simulations and comparisons show the performance of proposed methods. |
| first_indexed | 2024-04-11T09:41:10Z |
| format | Article |
| id | doaj.art-927462e9f9b2435c8d7eae2ee4d5e2e9 |
| institution | Directory Open Access Journal |
| issn | 2092-6782 |
| language | English |
| last_indexed | 2024-04-11T09:41:10Z |
| publishDate | 2022-01-01 |
| publisher | Elsevier |
| record_format | Article |
| series | International Journal of Naval Architecture and Ocean Engineering |
| spelling | doaj.art-927462e9f9b2435c8d7eae2ee4d5e2e92022-12-22T04:31:17ZengElsevierInternational Journal of Naval Architecture and Ocean Engineering2092-67822022-01-0114100440Robust output feedback control for dynamic positioning of turret-moored vessels based on bio-inspired state observer and online constructive fuzzy systemYulong Tuo0Shasha Wang1Chen Guo2Shuang Gao3School of Marine Electrical Engineering, Dalian Maritime University, Dalian, ChinaSchool of Marine Electrical Engineering, Dalian Maritime University, Dalian, China; Corresponding author.School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China; Corresponding author.School of Mechanical and Electrical Engineering, Shaoxing University, Shaoxing, ChinaThis paper investigates the dynamic positioning control of turret-moored vessels with uncertainties, unknown disturbances and velocities. Firstly, a bio-inspired state observer is proposed based on the bio-inspired neural dynamics model to estimate unknown velocities without vessel dynamics model. Meanwhile, an online constructive fuzzy approximator is designed to approximate uncertainties and unknown disturbances. To ensure fuzzy rules adequate and parsimonious, an online constructive scheme is proposed to adjust the fuzzy system structure without any prior knowledge. Based on the designed state observer and fuzzy approximator, a reliability-based robust output-feedback controller is proposed to make the reliability and heading converge to desired values. A reliability-based matrix is applied into the adaptive fuzzy parameter update law to simplify the stability analysis of closed-loop control system. The convergence of reliability can ensure full utilization of mooring system to maintain the vessel within allowable region. Finally, simulations and comparisons show the performance of proposed methods.http://www.sciencedirect.com/science/article/pii/S2092678222000061Dynamic positioning controlTurret-moored vesselBio-inspired state observerFuzzy systemOnline constructive scheme |
| spellingShingle | Yulong Tuo Shasha Wang Chen Guo Shuang Gao Robust output feedback control for dynamic positioning of turret-moored vessels based on bio-inspired state observer and online constructive fuzzy system International Journal of Naval Architecture and Ocean Engineering Dynamic positioning control Turret-moored vessel Bio-inspired state observer Fuzzy system Online constructive scheme |
| title | Robust output feedback control for dynamic positioning of turret-moored vessels based on bio-inspired state observer and online constructive fuzzy system |
| title_full | Robust output feedback control for dynamic positioning of turret-moored vessels based on bio-inspired state observer and online constructive fuzzy system |
| title_fullStr | Robust output feedback control for dynamic positioning of turret-moored vessels based on bio-inspired state observer and online constructive fuzzy system |
| title_full_unstemmed | Robust output feedback control for dynamic positioning of turret-moored vessels based on bio-inspired state observer and online constructive fuzzy system |
| title_short | Robust output feedback control for dynamic positioning of turret-moored vessels based on bio-inspired state observer and online constructive fuzzy system |
| title_sort | robust output feedback control for dynamic positioning of turret moored vessels based on bio inspired state observer and online constructive fuzzy system |
| topic | Dynamic positioning control Turret-moored vessel Bio-inspired state observer Fuzzy system Online constructive scheme |
| url | http://www.sciencedirect.com/science/article/pii/S2092678222000061 |
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