| Autor: |
Shi Xiao-cheng, Xie Wenbo, Fu Mingyu |
| Rok vydání: |
2011 |
| Předmět: |
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| Zdroj: |
2011 IEEE International Conference on Mechatronics and Automation. |
| DOI: |
10.1109/icma.2011.5986356 |
| Popis: |
A horizontal 3 degree-of-freedom(DOF) ship model and environment model are established. Passive nonlinear observer which is extended to include more nonlinear terms of damping and Coriolis matrix is proposed, observer is used to filter the wave induced high frequency motion and give the state variable estimations. Then backstepping control method based on observer estimated values is obtained. The Global Uniformly Stability properties of observer-controller system are analyzed by applying Lyapunov stability theory. Simulation about a surface DP vessel is carried on to verify the performance of the entire guidance-control system. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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