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Thrust allocation is a necessary part of the dynamic positioning system, which sends control signals to the individual thruster. In this paper, an effective method based on Improved Artificial Fish Swarm Algorithm is proposed to solve thrust allocation aiming at minimizing the power consumption, avoiding forbidden angles and restricting rate of thruster azimuth angle. The proposed method makes some...
As an important component of the vessel's Dynamic Positioning (DP) System, thrust allocation determines the control input of each thruster device from the control law. Thrust allocation problems can be formulated as nonlinear optimization problems. A chaos Particle Swarm Optimization (PSO) algorithm combined with multi-agent scheme is proposed for the thrust allocation in this paper. The algorithm...
In this paper, we address the problem of cooperation and collision avoidance for multiple DP ships with disturbances. The DP ships are regarded as elliptical agents with nonlinear Lagrangian dynamics. We design control laws that guarantee cooperation as well as collision-free maneuvers. We show, using a two-step proof, that the avoidance part of the control laws guarantees safety of the agents independently...
The motion control of marine vehicles has attracted much attention from control community. This paper reviews the recent results on the motion control of marine vehicles. The approaches dealing with rudder roll stabilization, heading control, dynamic positioning, unmanned marine vehicles, underactuated marine vehicles, marine thruster control, and controller design for marine vehicles are reviewed.
Designing the state observer is to filter the noise of the data in dynamic positioning (DP) system. The state observer can filter out high frequency interference and then estimate the system state information. Here, a kind of state observer of dynamic positioning vessel is designed to estimate vessel states based on improved strong tracking filter algorithm. For comparision, it s filtering effects...
The complex interference from ocean environment and the complicated ship shape and structure result in the model uncertainties of dynamic positioning system (DPS). Due to the inaccuracy and coupling of model, it is difficult to adjust it well for common method. This paper introduces the active disturbance rejection controller (ADRC) to control the ship moving and positioning with DPS because of its...
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