- Title
- Control of underactuated marine crafts with matched disturbances
- Creator
- Kennedy, Justin M.; Donaire, Alejandro; Ford, Jason J.
- Relation
- International Journal of Control Vol. 95, Issue 6, p. 1634-1644
- Publisher Link
- http://dx.doi.org/10.1080/00207179.2020.1866779
- Publisher
- Taylor & Francis
- Resource Type
- journal article
- Date
- 2021
- Description
- Stabilisation of marine craft in the presence of disturbances is important to many offshore activities. The process of stabilising a marine craft using the actuators is known as dynamic positioning, and is challenging for underactuated craft. In our work, we develop a robust dynamic positioning controller for an underactuated marine craft that ensures input-to-state-stability with respect to matched disturbances. Using the strict Lyapunov function approach of Malisoff and Mazenc [(2009). Constructions of strict Lyapunov functions. Springer-Verlag], we show that the proposed controller ensures uniform global asymptotic stability of the desired equilibrium when there are no disturbances. We also show that the closed-loop system is input-to-state stable with respect to matched environmental force and moment disturbances. Finally, we illustrate the performance of the proposed controller through simulations.
- Subject
- dynamic positioning; marine control; input-to-state stability; strict Lyapunov functions; underactuated system; matched disturbances
- Identifier
- http://hdl.handle.net/1959.13/1459782
- Identifier
- uon:45775
- Identifier
- ISSN:0020-7179
- Language
- eng
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