Fixed Time Control of Dynamic Positioning Ship with Unknown Interference

• 作者: Peng Xu
• 来源期刊: 应用科学(英文)
• 学科: 工学
• 关键词: Dynamic POSITIONING Fixed-Time OBSERVER SLIDING Mode CONTROL
• 年，卷（期）: 2020,（5）
• 页码范围: 246-257
• 页数: 12页
• 分类号: TP1

摘要

This paper proposes a fixed-time control scheme to ensure that the dynamic positioning can accurately reach the specified position under external interference. A fixed-time state observer was developed to accurately estimate the total external unknown interference. Based on the dynamic positioning ship motion model, the inversion design method is used to ensure the stability of the system and eliminate various uncertain effects. A fixed-time backstepping sliding mode controller is designed. Finally, the simulation results show that the method has good performance and advantages.