Abstract：In this paper, a recursive sliding-mode dynamic surface control (DSC) law with a saturation handling module is designed for dynamic positioning (DP) of ships with the saturation characteristics of propellers, unmeasurable velocities and unknown external disturbances. A saturation handling module with smooth input and output characteristics is designed based on Gaussian error function to limit the output of the control law. A high-gain observer is constructed to estimate the unmeasurable velocities according to the position and heading angle information of the ship. And a recursive sliding mode DSC strategy is designed to enhance the non-fragility of the control law to the perturbation of system parameters. By properly choosing the Lyapunov function, the stability of the DP closed-loop control system and the ultimately uniformly boundedness of all signals are proved. Finally, the DP simulation analyses of a supply ship is carried out. The results show that the designed control law has a strong rejection ability to the external disturbances and a strong non-fragility to the perturbation of system parameters, which can ensure that the DP control system has a good dynamic quality and steady-state performance.
苏义鑫，公成龙，张丹红. 考虑推进器饱和特性的动力定位船舶递归滑模动态面控制[J]. 振动与冲击, 2023, 42(8): 206-214.
SU Yixin,GONG Chenglong,ZHANG Danhong. Recursive sliding-mode dynamic surface control for dynamic positioning of ships considering the saturation characteristics of propellers. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(8): 206-214.
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