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Finite Time Output Feedback Control for Ship Dynamic Positioning Assisted Mooring Positioning System with Disturbances

Guoqing Xia, Caiyun Liu, Bo Zhao, Xinghua Chen*, and Xingchao Shao
International Journal of Control, Automation, and Systems, vol. 17, no. 11, pp.2948-2960, 2019

Abstract : This paper investigates finite-time output feedback control for ship dynamic positioning assisted mooring system with external disturbances and without velocity measurement. Firstly, a finite-time observer is designed to estimate the velocity of the positioning ship and the external disturbances. Secondly, based on the proposed observer, a finite-time control law is introduced to bring the ship to the desired position and heading. Furthermore, the stability of the overall closed-loop system is proved by using matrix inequality, homogeneous and Lyapunov stability theory. Finally, the effectiveness of the proposed positioning control is verified by numerical simulations.

Keyword : Dynamic positioning assisted mooring positioning system, effectiveness, finite-time observer, output feedback controller, positioning control.

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