Dynamic positioning (DP) control system is an essential module used in offshore ships for accurate maneuvering and maintaining of ship’s position and heading (fixed location or pre-determined track) by means of thruster forces being generated by controllers. In this paper, an interconnection and damping assignment-passivity based control (IDA-PBC) controller is developed for DP of surface ships. The design of the IDA-PBC controller involves a dynamic extension utilizing the coordinate transformation which adds damping to some coordinates to ensure asymptotic stability and adds integral action to enhance the robustness of the system against disturbances. The particle swarm optimization (PSO) technique is one of the the population-based optimization methods that has gained the attention of the control research communities and used to solve various engineering problems. The PSO algorithm is proposed for the optimization of the IDA-PBC controller. Numerical simulations results with comparisons illustrate the effectiveness of the new PSO-tuned dynamic IDA-PBC controller.

中文翻译：

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基于无源性的船舶动态定位控制器粒子群优化

动态定位（DP）控制系统是近海船舶中不可或缺的模块，用于通过控制器产生的推力来准确操纵和保持船舶的位置和航向（固定位置或预定轨道）。本文针对水面舰艇的DP开发了一种基于互连和阻尼分配无源性的控制（IDA-PBC）控制器。IDA-PBC控制器的设计涉及利用坐标变换的动态扩展，该动态扩展为某些坐标增加了阻尼以确保渐近稳定性，并增加了积分作用以增强系统抗干扰的鲁棒性。粒子群优化（PSO）技术是一种基于种群的优化方法，已引起控制研究界的关注，并用于解决各种工程问题。提出了PSO算法来优化IDA-PBC控制器。数值模拟结果与比较结果说明了新型PSO调整后的动态IDA-PBC控制器的有效性。