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Comments on ``Nonli...
Comments on ``Nonlinear Output Feedback Control of Dynamically Positioned Ships Using Vectorial observer Backstepping''
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- Robertsson, Anders (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
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- Johansson, Rolf (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
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(creator_code:org_t)
- 1998
- 1998
- Engelska.
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Ingår i: IEEE Trans. Control Systems Technology. ; 6:3, s. 439-441
- Relaterad länk:
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https://lup.lub.lu.s...
Abstract
Ämnesord
Stäng
- The decomposition of nonlinear output feedback control into an observer and a state feedback control is an open problem. A solution for dynamic positioning of ships has been proposed in the above paper (1) and by Grovlen and Fossen, where an observer-based backstepping method is used. This note points out that the observer design in the above-mentioned papers does not cover unstable ship dynamics and suggests a remedy for an extended class of ships. The proof for the nonlinear observer used in the design in the above-mentioned papers only applies to ships with stable sway yaw dynamics. In the above-mentioned papers an example concerning thruster assisted mooring of a tanker is given, which does not fulfill the needed stability properties, so an extension to this case is highly motivated. We propose a method to extend the results, under a detectability condition. This condition implies stable surge dynamics, which is a natural assumption for ships.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Marine systems
- nonlinear systems
- observer design
- stability
- state estimation.
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- art (ämneskategori)
- ref (ämneskategori)
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