Recursive sliding-mode dynamic surface control for dynamic positioning of ships considering the saturation characteristics of propellers

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Journal of Vibration and Shock ›› 2023, Vol. 42 ›› Issue (8) : 206-214.

SU Yixin,GONG Chenglong,ZHANG Danhong

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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.

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dynamic positioning / saturation handling module / input saturation / recursive sliding-mode control / non-fragility

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SU Yixin,GONG Chenglong,ZHANG Danhong. Recursive sliding-mode dynamic surface control for dynamic positioning of ships considering the saturation characteristics of propellers[J]. Journal of Vibration and Shock, 2023, 42(8): 206-214

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