Nonlinear control of dynamic positioned ships using only position feedback: an observer backstepping approach
- 24 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 3388-3393
- https://doi.org/10.1109/cdc.1996.573679
Abstract
Dynamic positioning #DP# systems for ships are usuallydesigned under the assumption that the kinematicequations can be linearized about a constantyaw anglesuch that linear theory can be applied. This paperproposes a globally uniformly asymptotically stable#GUAS# nonlinear control law where this assumptionis removed. A nonlinear observer is included in the designsuch that only position measurements are required.GUAS is proven by applying the backstepping designmethodology and Lyapunov...Keywords
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