|Table of Contents|

 Khac Duc Do.Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships[J].Journal of Marine Science and Application,2011,(3):325-332.[doi:10.1007/s11804-011-1076-z]
Click and Copy

Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships


Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships
Khac Duc Do
Khac Duc Do
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore
dynamic positioning surface vessel robust and adaptive output feedback nonlinear control
A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship’s parameters were not required to be known. An adaptive observer was first designed to estimate the ship’s velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov’s direct method to force the ship’s position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.


Balchen JG, Jenssen NA, Sllid S (1980). Dynamic positioning of floating vessels based on Kalman filtering and optimal control. Proceedings of the 19th IEEE Conference on Decision and Control, Albuquerque , 852864.
Do KD, DeBoer F (2000). Smooth projection robust adaptive nonlinear control of uncertain time varying nonlinear systems. ISA, 2, 988-994.
Do KD, Jiang ZP, Pan J (2002). Universal controllers for stabilization and tracking of underactuated ships. Systems and Control Letters, 47(4), 299-317.
Do KD, Jiang ZP, Pan J (2005). Global partial-state feedback and output-feedback tracking controllers for underactuated ships. Systems and Control Letters, 54(10), 1015-1036.
Do KD, Pan J (2006). Underactuated ships follow smooth paths with integral actions and without velocity measurements for feedback: Theory and experiments. IEEE Transactions on Control Systems Technology, 14(2), 308-322.
Fossen TI (2002). Marine control systems. Marine Cybernetics, Trondheim, Norway, 103-113.
Fossen TI, Grovlen A (1998). Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping. IEEE Transactions on Control Systems Technology, 6(1), 121-128.
Fossen TI, Strand JP (1999). Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with as supply vessel. Automatica, 35(1), 3-16.
Fossen TI, Strand JP (2001). Nonlinear passive weather optimal positioning control (wopc) system for ships and rigs: Experimental results. Automatica, 37(5), 701-715.
Grimble MJ, Patton RJ, Wise DA (1980). The design of dynamic positioning control systems using stochastic optimal control theory. Optimal Control and Application Methods, 1, 167-202. Khalil H (2002). Nonlinear systems. Prentice Hall, Upper Saddle River, 111-181
Krstic M, Kanellakopoulos I, Kokotovic P (1995). Nonlinear and adaptive control design. Wiley, New York, 87-121.
Nguyen D, Queka S, Sorensen AJ (2010). Control of marine riser end angles by position mooring. Control Engineering Practice, 18(9), 1013-1021.
Nguyen D, Queka S, Sorensen AJ (2011). Position-moored drilling vessel in level ice by control of riser end angles. Cold Regions Science and Technology, 66(2-3), 65-74 .
Nijmeijer H, Fossen TI (1999). New directions in nonlinear observer design. Springer-Verlag, London, 135-159.
SNAME (1950). The society of naval architects and marine engineers: nomenclature for treating the motion of a sub-merged body through a fluid. Technical and Research Bulletin, 1-5.
Soresen AJ (2005). Structural issues in the design and operation of marine control systems. Annual Reviews in Control, 29(1), 125-149.
Sorensen AJ, Leira B, Strand JP, Larsen CM (2001). Optimal setpoint chasing in dynamic positioning of deep-water drilling and intervention vessels. International Journal of Robust and Nonlinear Control, 11, 1187-1205.
Sorensen AJ, Sagatun SI, Fossen TI (1996). Design of a dynamic positioning system using model-based control. Journal of Control Engineering Practice, 4(3), 359-368.


Last Update: 2011-09-15