Control of underactuated marine crafts with matched disturbances. Issue 6 (3rd June 2022)

• Record Type: Journal Article
• Authors: Kennedy, Justin M.; Donaire, Alejandro; Ford, Jason J.
• Is Part Of: International journal of control. Volume 95:Issue 6(2022)
• Page Start: 1634
• Page End: 1644
• Publication Date: 2022-06-03
• Subjects: Dynamic positioning -- marine control -- input-to-state stability -- strict Lyapunov functions -- underactuated system -- matched disturbances; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2020.1866779
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: Stabilisation of marine craft in the presence of disturbances is important to many offshore activities. The process of stabilising a marine craft using the actuators is known as dynamic positioning, and is challenging for underactuated craft. In our work, we develop a robust dynamic positioning controller for an underactuated marine craft that ensures input-to-state-stability with respect to matched disturbances. Using the strict Lyapunov function approach of Malisoff and Mazenc [(2009). Constructions of strict Lyapunov functions . Springer-Verlag], we show that the proposed controller ensures uniform global asymptotic stability of the desired equilibrium when there are no disturbances. We also show that the closed-loop system is input-to-state stable with respect to matched environmental force and moment disturbances. Finally, we illustrate the performance of the proposed controller through simulations.