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DYNAMIC POSITIONING CONTROL OF SHIPS VIA RELAY OBSERVER DESIGN
Author(s) -
MorenoValenzuela Javier,
AchoZuppa Leonardo
Publication year - 2004
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2004.tb00215.x
Subject(s) - relay , dynamic positioning , observer (physics) , control theory (sociology) , control engineering , control (management) , computer science , engineering , marine engineering , artificial intelligence , physics , quantum mechanics , power (physics)
A dynamically positioned ship maintains its position (fixed location or predetermined track) exclusively by means of active thrusters. In this paper, a control scheme for dynamic positioning control of ships using a relay observer design is presented. Our analysis relies on nonsmooth strict Lyapunov functions to demonstrate global asymptotic stability of the closed‐loop system equilibrium. Using simulation results we illustrate the good performance of the proposed scheme under noisy ship position measurements.