Observer-based asynchronous self-triggered control for a dynamic positioning ship with the hysteresis input  

作　　者：Guoqing ZHANG Mingqi YAO Qihe SHAN Weidong ZHANG 

机构地区：[1]Navigation College,DalianMaritime University,Dalian 116026,China [2]Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《Science China(Information Sciences)》2022年第11期228-241,共14页中国科学（信息科学）（英文版）

基　　金：partially supported by National Natural Science Foundation of China(Grant Nos.52171291,51909018);Liaoning BaiQianWan Talents Program(Grant No.2021BQWQ64);Science and Technology Innovation Foundation of Dalian City(Grant No.2019J12GX026);Dalian Innovation Team Support Plan in the Key Research Field(Grant No.2020RT08);Fundamental Research Funds for the Central Universities(Grant No.3132022128)。

摘　　要：This paper focuses on the asynchronous self-triggered control scheme for a dynamic positioning ship considering the hysteresis input.A novel self-triggered mechanism is designed to relax the limitation of the continuous monitoring required for the triggered condition,and the next triggered instant depends on the information at the current instant.In particular,multiple controller-thruster channels are asynchronously self-triggered;i.e.,the self-triggered mechanism for each thruster is independent and noninteracting.A neural network observer is constructed to estimate the unavailable velocities for the control design.Meanwhile,unknown backlash-like hysteresis inputs are considered in this scheme through the fusion of the adaptive backstepping recursive design technique.Furthermore,the explosion of complexity existing in conventional backstepping design is avoided on the basis of the dynamic surface technique.Through the Lyapunov theory,considerable effort is made to guarantee semi-global uniform ultimate bounded stability.Finally,numerical simulations are provided to validate the feasibility of the proposed scheme.

关 键 词：dynamic positioning ship self-triggered control neural networks hysteresis input robust control 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]