ABSTRACT

Stabilisation of marine craft in the presence of disturbances is important to many offshore activities. The process of stabilising a marine craft using the actuators is known as dynamic positioning, and is challenging for underactuated craft. In our work, we develop a robust dynamic positioning controller for an underactuated marine craft that ensures input-to-state-stability with respect to matched disturbances. Using the strict Lyapunov function approach of Malisoff and Mazenc [(2009). Constructions of strict Lyapunov functions. Springer-Verlag], we show that the proposed controller ensures uniform global asymptotic stability of the desired equilibrium when there are no disturbances. We also show that the closed-loop system is input-to-state stable with respect to matched environmental force and moment disturbances. Finally, we illustrate the performance of the proposed controller through simulations.

摘要

在存在干扰的情况下稳定船舶对于许多海上活动来说非常重要。使用致动器稳定船舶的过程被称为动态定位，并且对于欠致动的船舶具有挑战性。在我们的工作中，我们为欠驱动的船舶开发了一种强大的动态定位控制器，以确保相对于匹配干扰的输入到状态的稳定性。使用 Malisoff 和 Mazenc [(2009) 的严格 Lyapunov 函数方法。严格 Lyapunov 函数的构造. Springer-Verlag]，我们证明了所提出的控制器在没有干扰的情况下确保了所需平衡的均匀全局渐近稳定性。我们还表明，对于匹配的环境力和力矩干扰，闭环系统是输入到状态稳定的。最后，我们通过仿真说明了所提出的控制器的性能。