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Finite-Time Controller Design for the Dynamic Positioning of Ships Considering Disturbances and Actuator Constraints

Focusing on dynamic positioning (DP) systems for ships, which are subject to environmental disturbances and actuator constraints, this paper presents a finite-time controller that uses a disturbance observer with the aid of a backstepping technique. First, to estimate the time-varying and unknown en...

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Principais autores: Yufang Zhang, Changde Liu, Nan Zhang, Qian Ye, Weifeng Su
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2022-07-01
Serier:Journal of Marine Science and Engineering
Fag:
dynamic positioning
ships
finite-time control
actuator constraints
disturbance observer
control allocation
Online adgang:https://www.mdpi.com/2077-1312/10/8/1034
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