In this paper, a novel robust adaptive multistage anti-windup control strategy is developed for dynamic positioning ships in presence of input constraint, mismatched disturbance and external disturbance. Based on dynamic surface control technique, a composite control law, where both mismatched and matched disturbances are compensated, is established to stabilize the system without the requirement of solving any partial differential equations. In particularly, the mismatched disturbance caused by the model transformation is analyzed firstly and the better steady performance is achieved. In addition, a novel multistage anti-windup control based on anticipatory activation compensation is constructed to handle the input constraint while the transient performance is improved significantly. Moreover, the stability of the closed-loop system is proven via Lyapunov technique rigorously, and the tracking error can be forced into an arbitrarily small neighborhood around zero. Finally, simulations with comparisons demonstrate the effectiveness of the proposed method.

本文针对存在输入约束，不匹配扰动和外部扰动的动态定位舰船，提出了一种新颖的鲁棒自适应多级抗饱和控制策略。基于动态表面控制技术，建立了不匹配和匹配干扰都得到补偿的复合控制律，以使系统稳定，而无需求解任何偏微分方程。特别是，首先分析了模型转换引起的失配扰动，获得了较好的稳定性能。此外，构造了一种基于预期激活补偿的新型多级抗饱和控制，以处理输入约束，同时显着改善了瞬态性能。而且，闭环系统的稳定性已通过李雅普诺夫（Lyapunov）技术严格证明，并且可以将跟踪误差强加到零附近的任意小邻域中。最后，通过仿真比较证明了该方法的有效性。