Predefined-Time Hybrid Tracking Control for Dynamic Positioning Vessels Based on Fully Actuated Approach
This study investigates the problem of tracking the trajectory of a dynamic positioning (DP) ship under sudden surges of elevated sea states. First, the tracking problem is reformulated as an error calibration problem through the introduction of fully actuated system (FAS) approaches, thereby simpli...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-11-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/11/2025 |
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| author | Yujie Xu Yingjie Wang Mingyu Fu Hao Chen |
| author_facet | Yujie Xu Yingjie Wang Mingyu Fu Hao Chen |
| author_sort | Yujie Xu |
| collection | DOAJ |
| description | This study investigates the problem of tracking the trajectory of a dynamic positioning (DP) ship under sudden surges of elevated sea states. First, the tracking problem is reformulated as an error calibration problem through the introduction of fully actuated system (FAS) approaches, thereby simplifying controller design. Second, a predefined-time control term is designed to maintain the convergence time of the trajectory tracking error within a specified range; however, the upper bound of the perturbation must be estimated in advance. The high sea state during operation can result in an abrupt change in the upper bound of disturbance, thereby affecting the control accuracy and stability of the system. Therefore, a linear control matrix is developed to eliminate the system’s dependence on the estimation of the upper bound of disturbance following smooth switching, thereby achieving control decoupling and providing a conservative switching time. Additionally, a nonlinear reduced-order expansion observer (RESO) is constructed for feedforward compensation. The stability of the system is demonstrated using the Lyapunov function, indicating that the selection of appropriate poles can theoretically enhance the system’s convergence with greater control accuracy and robustness after switching. Finally, the effectiveness of the proposed method is validated through simulations and comparative experiments. |
| format | Article |
| id | doaj-art-ce89dce917ae4a148a708c309fabbb66 |
| institution | OA Journals |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-ce89dce917ae4a148a708c309fabbb662025-08-20T01:54:07ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-11-011211202510.3390/jmse12112025Predefined-Time Hybrid Tracking Control for Dynamic Positioning Vessels Based on Fully Actuated ApproachYujie Xu0Yingjie Wang1Mingyu Fu2Hao Chen3College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaThis study investigates the problem of tracking the trajectory of a dynamic positioning (DP) ship under sudden surges of elevated sea states. First, the tracking problem is reformulated as an error calibration problem through the introduction of fully actuated system (FAS) approaches, thereby simplifying controller design. Second, a predefined-time control term is designed to maintain the convergence time of the trajectory tracking error within a specified range; however, the upper bound of the perturbation must be estimated in advance. The high sea state during operation can result in an abrupt change in the upper bound of disturbance, thereby affecting the control accuracy and stability of the system. Therefore, a linear control matrix is developed to eliminate the system’s dependence on the estimation of the upper bound of disturbance following smooth switching, thereby achieving control decoupling and providing a conservative switching time. Additionally, a nonlinear reduced-order expansion observer (RESO) is constructed for feedforward compensation. The stability of the system is demonstrated using the Lyapunov function, indicating that the selection of appropriate poles can theoretically enhance the system’s convergence with greater control accuracy and robustness after switching. Finally, the effectiveness of the proposed method is validated through simulations and comparative experiments.https://www.mdpi.com/2077-1312/12/11/2025predefined-timetrajectory trackinghybrid controldynamic positioningFASRESO |
| spellingShingle | Yujie Xu Yingjie Wang Mingyu Fu Hao Chen Predefined-Time Hybrid Tracking Control for Dynamic Positioning Vessels Based on Fully Actuated Approach Journal of Marine Science and Engineering predefined-time trajectory tracking hybrid control dynamic positioning FAS RESO |
| title | Predefined-Time Hybrid Tracking Control for Dynamic Positioning Vessels Based on Fully Actuated Approach |
| title_full | Predefined-Time Hybrid Tracking Control for Dynamic Positioning Vessels Based on Fully Actuated Approach |
| title_fullStr | Predefined-Time Hybrid Tracking Control for Dynamic Positioning Vessels Based on Fully Actuated Approach |
| title_full_unstemmed | Predefined-Time Hybrid Tracking Control for Dynamic Positioning Vessels Based on Fully Actuated Approach |
| title_short | Predefined-Time Hybrid Tracking Control for Dynamic Positioning Vessels Based on Fully Actuated Approach |
| title_sort | predefined time hybrid tracking control for dynamic positioning vessels based on fully actuated approach |
| topic | predefined-time trajectory tracking hybrid control dynamic positioning FAS RESO |
| url | https://www.mdpi.com/2077-1312/12/11/2025 |
| work_keys_str_mv | AT yujiexu predefinedtimehybridtrackingcontrolfordynamicpositioningvesselsbasedonfullyactuatedapproach AT yingjiewang predefinedtimehybridtrackingcontrolfordynamicpositioningvesselsbasedonfullyactuatedapproach AT mingyufu predefinedtimehybridtrackingcontrolfordynamicpositioningvesselsbasedonfullyactuatedapproach AT haochen predefinedtimehybridtrackingcontrolfordynamicpositioningvesselsbasedonfullyactuatedapproach |