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Finite-Time Controller Design for the Dynamic Positioning of Ships Considering Disturbances and Actuator Constraints
2022
Journal of Marine Science and Engineering
Focusing on dynamic positioning (DP) systems for ships, which are subject to environmental disturbances and actuator constraints, this paper presents a finite-time controller that uses a disturbance observer with the aid of a backstepping technique. First, to estimate the time-varying and unknown environmental disturbances in finite time, two sliding-mode disturbance observers are constructed. Specifically, an adaptive disturbance observer (ADO) effectively decreases undesired chattering
doi:10.3390/jmse10081034
fatcat:223sixxd4nay5j44f3lrobxq2i