Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error Constraints
In this paper, a variable gain prescribed performance control law is proposed for dynamic positioning (DP) of ships with positioning error constraints, input saturation and unknown external disturbances. The error performance index functions are designed to preset the prescribed performance bounds a...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/10/1/74 |
| _version_ | 1827664930087632896 |
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| author | Chenglong Gong Yixin Su Danhong Zhang |
| author_facet | Chenglong Gong Yixin Su Danhong Zhang |
| author_sort | Chenglong Gong |
| collection | DOAJ |
| description | In this paper, a variable gain prescribed performance control law is proposed for dynamic positioning (DP) of ships with positioning error constraints, input saturation and unknown external disturbances. The error performance index functions are designed to preset the prescribed performance bounds and the error mapping functions are constructed to incorporate the prescribed performance bounds into the DP control design. The variable gain technique is used to limit the output amplitude of the control law to avoid input saturation of the system by dynamically adjusting the control gain of the DP control law according to the positioning errors, and the error mapping function replaces the positioning error as a recursive sliding-mode surface to realize the prescribed performance control of the system and guarantee the stability of the closed-loop system with variable control gains. It has been proved that the proposed DP control law can make the uniformly ultimately boundedness of all signals in the DP closed-loop control system. The numerical simulation results illustrate that the proposed control law can make the ship’s position and heading maintain at the desired value with positioning error constraints, enhance the non-fragility of the DP control law to the perturbation of system’s parameters and improve the system’s rejection ability to external disturbances. |
| first_indexed | 2024-03-10T01:11:37Z |
| format | Article |
| id | doaj.art-bfe0cfe8b6f945c1b7a0e6da147f1961 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T01:11:37Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-bfe0cfe8b6f945c1b7a0e6da147f19612023-11-23T14:16:34ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-01-011017410.3390/jmse10010074Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error ConstraintsChenglong Gong0Yixin Su1Danhong Zhang2School of Automation, Wuhan University of Technology, Wuhan 430070, ChinaSchool of Automation, Wuhan University of Technology, Wuhan 430070, ChinaSchool of Automation, Wuhan University of Technology, Wuhan 430070, ChinaIn this paper, a variable gain prescribed performance control law is proposed for dynamic positioning (DP) of ships with positioning error constraints, input saturation and unknown external disturbances. The error performance index functions are designed to preset the prescribed performance bounds and the error mapping functions are constructed to incorporate the prescribed performance bounds into the DP control design. The variable gain technique is used to limit the output amplitude of the control law to avoid input saturation of the system by dynamically adjusting the control gain of the DP control law according to the positioning errors, and the error mapping function replaces the positioning error as a recursive sliding-mode surface to realize the prescribed performance control of the system and guarantee the stability of the closed-loop system with variable control gains. It has been proved that the proposed DP control law can make the uniformly ultimately boundedness of all signals in the DP closed-loop control system. The numerical simulation results illustrate that the proposed control law can make the ship’s position and heading maintain at the desired value with positioning error constraints, enhance the non-fragility of the DP control law to the perturbation of system’s parameters and improve the system’s rejection ability to external disturbances.https://www.mdpi.com/2077-1312/10/1/74dynamic positioning of shipsvariable gain techniquerecursive sliding-modeprescribed performanceinput saturationpositioning error constraints |
| spellingShingle | Chenglong Gong Yixin Su Danhong Zhang Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error Constraints Journal of Marine Science and Engineering dynamic positioning of ships variable gain technique recursive sliding-mode prescribed performance input saturation positioning error constraints |
| title | Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error Constraints |
| title_full | Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error Constraints |
| title_fullStr | Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error Constraints |
| title_full_unstemmed | Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error Constraints |
| title_short | Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error Constraints |
| title_sort | variable gain prescribed performance control for dynamic positioning of ships with positioning error constraints |
| topic | dynamic positioning of ships variable gain technique recursive sliding-mode prescribed performance input saturation positioning error constraints |
| url | https://www.mdpi.com/2077-1312/10/1/74 |
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