结合非线性动态面和前馈补偿的挖泥船动力定位控制.pdf

30 2 Vol. 30 No. 2 20123 JOURNAL OF APPLIED SCIENCES — Electronics and Information Engineering Mar. 2012 DOI: 10.3969/j.issn.0255-8297.2012.02.015 1. 200240 2. 454100 . . . . U666.12 0255-8297(2012)02-0203-06 Dynamic Positioning of Dredgers Using Nonlinear Dynamic Surface Control and Feed-Forward Compensation ZHANG Yu-hua , JIANG Jian-guo , GAO Deng-ke 1. Key Laboratory of Control of Power Transmission and Transformation, Ministry of Education, Shanghai Jiaotong University, Shanghai 200240, China 2. School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454100, Henan Province, China Abstract: To deal with difficulties in the control of dynamic positioning of dredgers under large dredging forces reaction, a method of combining dynamic surface control and feed-forward compensation is proposed to be used in dynamic positioning of dredgers. Dredging forces can be feed-forward compensated by sen- sors, and the dynamic surface controller guarantees global asymptotic stability of the closed-loop system. A first-order low-pass filter in the back-stepping design process allows the dynamic surface control technique to be implemented without differentiating any model nonlinearities, which can significantly simplify the design. Simulat