<abstract xmlns="http://www.w3.org/1999/xhtml"><p> Designing a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control theory for cascaded systems to guarantee stabilization of the marine vessel position and heading. Forces and torque computed from the adaptive control law are allocated to individual thrusters by employing the quadratic programming method in combination with the cascaded generalized inverse algorithm, the weighted least squares algorithm and the minimal least squares algorithm. The effectiveness of the proposed control scheme is demonstrated by simulations involving a redundant set of actuators. The evaluation criteria include energy consumption, robustness, as well accuracy of tracking during typical vessel operation.</p></abstract>

Designing a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control theory for cascaded systems to guarantee stabilization of the marine vessel position and heading. Forces and torque computed from the adaptive control law are allocated to individual thrusters by employing the quadratic programming method in combination with the cascaded generalized inverse algorithm, the weighted least squares algorithm and the minimal least squares algorithm. The effectiveness of the proposed control scheme is demonstrated by simulations involving a redundant set of actuators. The evaluation criteria include energy consumption, robustness, as well accuracy of tracking during typical vessel operation.

Adaptive Backstepping Tracking Control for an over–Actuated DP Marine Vessel with Inertia Uncertainties

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Designing a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental...

Adaptive Backstepping Tracking Control for an over–Actuated DP Marine Vessel with Inertia Uncertainties

Published Online: Jan 11, 2019

Page range: 679 - 693

Received: Nov 06, 2017

Accepted: Sep 20, 2018

DOI: https://doi.org/10.2478/amcs-2018-0052

Keywords
over-actuated control, adaptive control, Lyapunov function, control allocation, MIMO system

© 2019 Anna Witkowska, Roman Śmierzchalski, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Adaptive Backstepping Tracking Control for an over–Actuated DP Marine Vessel with Inertia Uncertainties

Published Online: Jan 11, 2019

Page range: 679 - 693

Received: Nov 06, 2017

Accepted: Sep 20, 2018

DOI: https://doi.org/10.2478/amcs-2018-0052

Keywordsover-actuated control, adaptive control, Lyapunov function, control allocation, MIMO system

© 2019 Anna Witkowska, Roman Śmierzchalski, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
over-actuated control, adaptive control, Lyapunov function, control allocation, MIMO system