Nonlinear observer-controller design for dynamic positioning of ships
摘要
The main focus is nonlinear model-based dynamic positioning (DP) control system design. A nonlinear uniform global exponential stability (UGES) observer produces noise-free estimates of the position, the slowly varying environmental disturbances and the velocity, which are used in a proportional-derivative (PD) + feedforward control law. The stability of this observer-controller system is proved by introducing a specific nonlinear cascaded system. The simulation results have successfully demonstrated the performance of designed DP control system.
引用本文（GB/T 7714）
何黎明, 田作华, 施颂椒. Nonlinear observer-controller design for dynamic positioning of ships[J]. Acta Scientiarum Naturalium Universitatis Sunyatseni, 2004.
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