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Cooperative Control of Multiple Dynamic Positioning Vessels with Input Saturation Based on Finite-time Disturbance Observer

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  • Control Theory and Applications
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Abstract

This paper presents a new cooperative control strategy for dynamic positioning of multiple surface vessels subject to unknown time-varying environmental disturbances and input saturation. The vessels are assumed interconnected through a directed topology rather than bidirectional. Two control objectives are considered in this paper. The first one is to make these vessels track desired positions and headings, and the other control objective is to hold the desired formation. For these purposes, we propose a cooperative control which consists of finite-time disturbance observer, auxiliary dynamic system and dynamic surface control technique. A nonlinear finite-time observer is developed to estimate unknown time-varying disturbance. To tackle the input saturation problem, an auxiliary dynamic system is constructed. It is also proved that all signals in the closed-loop control system converge to a small neighborhood of equilibrium state via Lyapunov analysis. Simulation results are given to validate the effectiveness of the proposed control strategy.

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Authors and Affiliations

  1. College of Automation, Harbin Engineering University, Harbin, 150001, China

    Guoqing Xia, Chuang Sun, Bo Zhao & Jingjing Xue

Authors
  1. Guoqing Xia
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  2. Chuang Sun
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  3. Bo Zhao
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  4. Jingjing Xue
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Corresponding author

Correspondence to Chuang Sun.

Additional information

Recommended by Associate Editor Andrea Cristofaro under the direction of Editor Myo Taeg Lim. This work was supported by the Funded by the 7th Generation Ultra Deep Water Drilling unit Innovation Project.

Guoqing Xia received the Ph.D. degree in control theory and control engineering from Harbin Engineering University (HEU) in 2001. He is currently working as a professor in HEU. His research interests include ship dynamic positioning control technique, intelligent control theory and system simulation technique.

Chuang Sun received his Bachelor degree in automation from Anyang Institute of Technology in 2015. He is currently working toward to a Ph.D. degree in control science and engineering from Harbin Engineering University. His research interests include ship dynamic positioning control, cooperative control and nonlinear control theory.

Bo Zhao received his Bachelor degree in Automation from Beijing University of Aeronautics and Astronautics (BUAA) in 2006 and his Master degree in Navigation, Guidance and Control from BUAA in 2009. He was awarded Ph.D. degree in Marine Cybernetics from Norwegian University of Science and Technology in 2015. From 2013 to 2018, he served Global Maritime AS as a Senior Marine System Advisor, and developed hardware-in-the-loop testing for dynamic positioning systems. He now works as an Associate Professor in Harbin Engineering University. His research interests are applying advanced control and artificial intelligence in the control of vessel, underwater robotics and other marine systems.

Jingjing Xue is currently working toward to a Ph.D. degree in control science and engineering from Harbin Engineering University. Her research interests include ship dynamic positioning control technique, intelligent control theory and system simulation technique.

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Xia, G., Sun, C., Zhao, B. et al. Cooperative Control of Multiple Dynamic Positioning Vessels with Input Saturation Based on Finite-time Disturbance Observer. Int. J. Control Autom. Syst. 17, 370–379 (2019). https://doi.org/10.1007/s12555-018-0383-4

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  • DOI: https://doi.org/10.1007/s12555-018-0383-4

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