Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators
ObjectivesTo solve the problems of communication resource limitations and parameter uncertainty in the dynamic positioning control tasks of fully driven ships in marine engineering applications, this paper presents a robust event-triggered control algorithm for ship dynamic positioning that consider...
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2025-06-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03581 |
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| author | Bo LI Guoqing ZHANG Xianku ZHANG Hongguang LÜ |
| author_facet | Bo LI Guoqing ZHANG Xianku ZHANG Hongguang LÜ |
| author_sort | Bo LI |
| collection | DOAJ |
| description | ObjectivesTo solve the problems of communication resource limitations and parameter uncertainty in the dynamic positioning control tasks of fully driven ships in marine engineering applications, this paper presents a robust event-triggered control algorithm for ship dynamic positioning that considers the dynamic characteristics of the actuators.MethodsThe algorithm uses a radial basis function (RBF) neural network to approximate system uncertainty. At the same time, a novel event-triggering mechanism in the sensor-controller channel is designed by introducing a zero-order hold which reduces the signal transmission frequency in the sensor−controller and controller−actuator channels, thus greatly saving the communication resources of the system. In addition, the adaptive parameters are updated online and designed to compensate for the gain uncertainty of the actuators, which reduces the computational load and ensures that the ship can perform dynamic positioning tasks stably.ResultsThe Lyapunov stability theory is used to prove that all error variables in the closed-loop control system satisfy semi-global uniformly ultimately bounded (SGUUB) stability, and the effectiveness of the proposed algorithm is verified through comparison with a simulation.ConclusionsThe results of this study can provide useful references for promoting the development of intelligent ship equipment. |
| format | Article |
| id | doaj-art-2e4699b8a1824aa487d955d152af7a61 |
| institution | Kabale University |
| issn | 1673-3185 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj-art-2e4699b8a1824aa487d955d152af7a612025-08-20T03:30:52ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852025-06-0120320221010.19693/j.issn.1673-3185.03581ZG3581Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuatorsBo LI0Guoqing ZHANG1Xianku ZHANG2Hongguang LÜ3Navigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaObjectivesTo solve the problems of communication resource limitations and parameter uncertainty in the dynamic positioning control tasks of fully driven ships in marine engineering applications, this paper presents a robust event-triggered control algorithm for ship dynamic positioning that considers the dynamic characteristics of the actuators.MethodsThe algorithm uses a radial basis function (RBF) neural network to approximate system uncertainty. At the same time, a novel event-triggering mechanism in the sensor-controller channel is designed by introducing a zero-order hold which reduces the signal transmission frequency in the sensor−controller and controller−actuator channels, thus greatly saving the communication resources of the system. In addition, the adaptive parameters are updated online and designed to compensate for the gain uncertainty of the actuators, which reduces the computational load and ensures that the ship can perform dynamic positioning tasks stably.ResultsThe Lyapunov stability theory is used to prove that all error variables in the closed-loop control system satisfy semi-global uniformly ultimately bounded (SGUUB) stability, and the effectiveness of the proposed algorithm is verified through comparison with a simulation.ConclusionsThe results of this study can provide useful references for promoting the development of intelligent ship equipment.http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03581dynamic positioningevent-triggered controlrobust neural dampingadaptive control systems |
| spellingShingle | Bo LI Guoqing ZHANG Xianku ZHANG Hongguang LÜ Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators Zhongguo Jianchuan Yanjiu dynamic positioning event-triggered control robust neural damping adaptive control systems |
| title | Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators |
| title_full | Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators |
| title_fullStr | Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators |
| title_full_unstemmed | Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators |
| title_short | Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators |
| title_sort | robust event triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators |
| topic | dynamic positioning event-triggered control robust neural damping adaptive control systems |
| url | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03581 |
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