TY - JOUR
T1 - Dynamic positioning control of ships via relay observer design
AU - Moreno-Valenzuela, Javier
AU - Acho-Zuppa, Leonardo
PY - 2004/9
Y1 - 2004/9
N2 - A dynamically positioned ship maintains its position (fixed location or predetermined track) exclusively by means of active thrusters. In this paper, a control scheme for dynamic positioning control of ships using a relay observer design is presented. Our analysis relies on nonsmooth strict Lyapunov functions to demonstrate global asymptotic stability of the closed-loop system equilibrium. Using simulation results we illustrate the good performance of the proposed scheme under noisy ship position measurements.
AB - A dynamically positioned ship maintains its position (fixed location or predetermined track) exclusively by means of active thrusters. In this paper, a control scheme for dynamic positioning control of ships using a relay observer design is presented. Our analysis relies on nonsmooth strict Lyapunov functions to demonstrate global asymptotic stability of the closed-loop system equilibrium. Using simulation results we illustrate the good performance of the proposed scheme under noisy ship position measurements.
KW - Asymptotic stability
KW - Positioning control
KW - Relay observers
KW - Ships
UR - http://www.scopus.com/inward/record.url?scp=8844226103&partnerID=8YFLogxK
U2 - 10.1111/j.1934-6093.2004.tb00215.x
DO - 10.1111/j.1934-6093.2004.tb00215.x
M3 - Artículo
SN - 1561-8625
VL - 6
SP - 398
EP - 406
JO - Asian Journal of Control
JF - Asian Journal of Control
IS - 3
ER -