The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 42-614
Full Name: Yuhua Zhang
Position: Ph.D. Candidate
Age: ON
Sex: Male
Address: Power Equipment building101, Dongchuan Road 800, Minhang District, Shanghai,China
Country: CHINA
Tel:
Tel prefix:
Fax:
E-mail address: zhyh@sjtu.edu.cn
Other E-mails: zhyhdq@126.com
Title of the Paper: A Novel Disturbances Compensating Dynamic Positioning of Dredgers Based on Adaptive Dynamic Surface Control
Authors as they appear in the Paper: Yuhua Zhang, Jianguo Jiang
Email addresses of all the authors: zhyh@sjtu.edu.cn,jiang@sjtu.edu.cn
Number of paper pages: 10
Abstract: In order to deal with the control difficulties of the dredger¡¯s dynamic positioning system under large disturbances and severe sea conditions, an adaptive dynamic surface control method is proposed to be used in the dredger¡¯s dynamic positioning system. Disturbances can be estimated and compensated by adaptive arithmetic. The addition of low pass filters in backstepping design process allows the dynamic surface control technique to be implemented without differentiating any model nonlinearities, which could simplify the design significantly. The proposed adaptive robust controller guarantees the semi-globally asymptotical stability of the closed-loop system, and output asymptotic track to desired trajectory. Besides, the final tracking accuracy could be adjusted via certain controller parameters. This scheme is verified by the comprehensive simulation results in typical operation scenarios. The simulation results show that the proposed controller has desired posi!
tion tracking transient performance and robustness to the uncertain disturbances.
Keywords: Dynamic positioning (DP), Adaptive dynamic surface control(ADSC), Nonlinear controller design, Backstepping, Dredger, Disturbances compensating
EXTENSION of the file: .doc
Special (Invited) Session:
Organizer of the Session:
How Did you learn about congress:
IP ADDRESS: 202.120.49.3
