Nonlinear Passive Robust Observer Design for a DP System Based on ACA
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- 英文论文题名：Nonlinear Passive Robust Observer Design for a DP System Based on ACA
- 论文作者：Xiaogong Lin ; Heng Li ; Kun Liang ; Yuzhao Jiao
- 英文论文作者：Xiaogong Lin ; Heng Li ; Kun Liang ; Yuzhao Jiao ; College of Automation ; Harbin Engineering University
- 年：2017
- 作者机构：College of Automation,Harbin Engineering University;
- 英文论文关键词：Dynamic positioning ; wave filter ; acceleration feedback ; passive robust observer ; ant colony algorithm
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP18;U664.82
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：8
- 文件大小：1151k
- 原文格式：D
- 会议级别：全国
摘要
A nonlinear passive robust filtering method is described in this article to solve filtering and state estimation problems of ship dynamic positioning system(DPS) in slowly varying sea state. By augmenting a new state and utilizing acceleration feedback technology, the observer proposed in this paper will improve disturbance attenuation performance. The global stability and passivity of the observer are proved. The observer parameters are optimized off-line using ant colony algorithm(ACA).Results show that the present methodology works quite well for numerical examples.
A nonlinear passive robust filtering method is described in this article to solve filtering and state estimation problems of ship dynamic positioning system(DPS) in slowly varying sea state. By augmenting a new state and utilizing acceleration feedback technology, the observer proposed in this paper will improve disturbance attenuation performance. The global stability and passivity of the observer are proved. The observer parameters are optimized off-line using ant colony algorithm(ACA).Results show that the present methodology works quite well for numerical examples.
A nonlinear passive robust filtering method is described in this article to solve filtering and state estimation problems of ship dynamic positioning system(DPS) in slowly varying sea state. By augmenting a new state and utilizing acceleration feedback technology, the observer proposed in this paper will improve disturbance attenuation performance. The global stability and passivity of the observer are proved. The observer parameters are optimized off-line using ant colony algorithm(ACA).Results show that the present methodology works quite well for numerical examples.
引文
[1]Duan,H.B.Ant Colony Algorithms:Theory and Applications.China Science&Technology Press,,Beijing,2005.
[2]Duan,Haibin,et al.Development on ant colony algorithm theory and its application.Control&Decision,.2004:1321-1320.
[3]Fossen,Thor I,and J.P.Strand.Passive nonlinear observer design for ships using lyapunov methods:full-scale experiments with a supply vessel.Automatica,1999:3-16.
[4]Fossen,Thor I.Marine Control Systems:Guidance,Navigation,and Control of Ships,Rigs and Underwater Vehicles.Marine Control System,Guidance,Navigation and Control of Ships,Rigs and Underwater,2002.
[5]Fossen,Thor I.Handbook of Marine Craft Hydrodynamics and Motion Control,2011.
[6]Hassani,Vahid,et al.Multiple model adaptive wave filtering for dynamic positioning of marine vessels.2012:6222-6228.
[7]Hassani,V.,A.M.Pascoal,and A.J.Sorensen.A novel methodology for adaptive Wave Filtering of marine vessels:Theory and experiments?IEEE,Conference on Decision and Control,2013:6162-6167.
[8]Hwang,Arom,W.Seong,and P.M.Lee.Experiment On Simultaneous Localization And Mapping Based On Unscented Kalman Filter For Unmanned Underwater Vehicles.International Journal of Offshore&Polar Engineering,2013:63-68.
[9]Khalil,Hassan K.Nonlinear systems.3rd ed.2002.
[10]Kyrkjeb?E.Motion Coordination of Mechanical Systems:Leader-Follower Synchronization of Euler-Lagrange Systems using Output Feedback Control.Faculty of Information Technology Mathematics&Electrical Engineering,2007.
[11]Lee,Chong Moo,et al.Underwater Navigation System Based On Inertial Sensor And Doppler Velocity Log Using Indirect Feedback Kalman Filter.International Journal of Offshore&Polar Engineering,2005:88-95.
[12]Lindegaard,K P.Acceleration Feedback in Dynamic Positioning.Fakultet for Informasjonsteknologi Matematikk Og Elektroteknikk,2003.
[13]S?rensen,Asgeir J.A survey of dynamic positioning control systems.Annual Reviews in Control,2011:123-136.
[14]Strand,Jan P.,Asgeir J.Srensen,and T.I.Fossen.Design of automatic thruster assisted mooring systems for ships.Modeling Identification&Control,1998:61-75.
[15]Strand,Jann Peter,and T.I.Fossen.Nonlinear passive observer design for ships with adaptive wave filtering.Lecture Notes in Control and Information Sciences,1999:113-134.
[16]S?lid,S.,N.Jenssen,and J.Balchen.Design and analysis of a dynamic positioning system based on Kalman filtering and optimal control.IEEE Transactions on Automatic Control,1983:331-339.
[17]Tomera,Miros?aw.Nonlinear observers design for multivariable ship motion control.Polish Maritime Research 19.special,2016:50-56.
[18]Torsetnes,G.,J.Jouffroy,and T.I.Fossen.Nonlinear dynamic positioning of ships with gain-scheduled wave filtering.Decision and Control,2004.Cdc.IEEE Conference on IEEE,2004:5340-5347 Vol.5.
[19]Yakubovich,V.A.A frequency theorem in control theory.Siberian Mathematical Journal,1973:265-289.
[20]Xia,Guoqing,et al.Passive nonlinear observer design for special structure vessels.Oceans,2013:1-8.
[2]Duan,Haibin,et al.Development on ant colony algorithm theory and its application.Control&Decision,.2004:1321-1320.
[3]Fossen,Thor I,and J.P.Strand.Passive nonlinear observer design for ships using lyapunov methods:full-scale experiments with a supply vessel.Automatica,1999:3-16.
[4]Fossen,Thor I.Marine Control Systems:Guidance,Navigation,and Control of Ships,Rigs and Underwater Vehicles.Marine Control System,Guidance,Navigation and Control of Ships,Rigs and Underwater,2002.
[5]Fossen,Thor I.Handbook of Marine Craft Hydrodynamics and Motion Control,2011.
[6]Hassani,Vahid,et al.Multiple model adaptive wave filtering for dynamic positioning of marine vessels.2012:6222-6228.
[7]Hassani,V.,A.M.Pascoal,and A.J.Sorensen.A novel methodology for adaptive Wave Filtering of marine vessels:Theory and experiments?IEEE,Conference on Decision and Control,2013:6162-6167.
[8]Hwang,Arom,W.Seong,and P.M.Lee.Experiment On Simultaneous Localization And Mapping Based On Unscented Kalman Filter For Unmanned Underwater Vehicles.International Journal of Offshore&Polar Engineering,2013:63-68.
[9]Khalil,Hassan K.Nonlinear systems.3rd ed.2002.
[10]Kyrkjeb?E.Motion Coordination of Mechanical Systems:Leader-Follower Synchronization of Euler-Lagrange Systems using Output Feedback Control.Faculty of Information Technology Mathematics&Electrical Engineering,2007.
[11]Lee,Chong Moo,et al.Underwater Navigation System Based On Inertial Sensor And Doppler Velocity Log Using Indirect Feedback Kalman Filter.International Journal of Offshore&Polar Engineering,2005:88-95.
[12]Lindegaard,K P.Acceleration Feedback in Dynamic Positioning.Fakultet for Informasjonsteknologi Matematikk Og Elektroteknikk,2003.
[13]S?rensen,Asgeir J.A survey of dynamic positioning control systems.Annual Reviews in Control,2011:123-136.
[14]Strand,Jan P.,Asgeir J.Srensen,and T.I.Fossen.Design of automatic thruster assisted mooring systems for ships.Modeling Identification&Control,1998:61-75.
[15]Strand,Jann Peter,and T.I.Fossen.Nonlinear passive observer design for ships with adaptive wave filtering.Lecture Notes in Control and Information Sciences,1999:113-134.
[16]S?lid,S.,N.Jenssen,and J.Balchen.Design and analysis of a dynamic positioning system based on Kalman filtering and optimal control.IEEE Transactions on Automatic Control,1983:331-339.
[17]Tomera,Miros?aw.Nonlinear observers design for multivariable ship motion control.Polish Maritime Research 19.special,2016:50-56.
[18]Torsetnes,G.,J.Jouffroy,and T.I.Fossen.Nonlinear dynamic positioning of ships with gain-scheduled wave filtering.Decision and Control,2004.Cdc.IEEE Conference on IEEE,2004:5340-5347 Vol.5.
[19]Yakubovich,V.A.A frequency theorem in control theory.Siberian Mathematical Journal,1973:265-289.
[20]Xia,Guoqing,et al.Passive nonlinear observer design for special structure vessels.Oceans,2013:1-8.