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In this paper, a robust adaptive control scheme with the global asymptotic stability with respect to positioning errors is proposed for dynamic positioning (DP) of ships in the presence of time-varying unknown bounded environmental disturbances. The unknown environmental disturbances are expressed as the outputs of a linear exosystem with unknown parameters and all eigenvalues of system matrix lying...
In the presence of unknown time-varying disturbances and input saturation, this paper develops a robust nonlinear control law for the dynamic positioning (DP) system of ships using a disturbance observer, an auxiliary dynamic system, and the dynamic surface control (DSC) technique. The disturbance observer is constructed to provide the estimates of unknown time-varying disturbances, the auxiliary...
This paper presents a nonlinear robust control design for dynamic positioning system of ships with unknown disturbances using backstepping in combination with disturbance observer. By the means of Lyapunov stability theory, it is proved that the designed control law can force the position and heading of ships to the desired target value with arbitrarily small error and guarantee the uniform ultimate...
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