Output feedback control for dynamic positioning vessels using nonlinear observer backstepping

2011 ◽  
Author(s):  
Shi Xiaocheng ◽  
Xie Wenbo ◽  
Fu Mingyu
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Nonlinear Observer ◽  
Dynamic Positioning

Finite-time output feedback control for a pneumatic servo system

2016 ◽  
Vol 38 (12) ◽  
pp. 1520-1534 ◽  
Author(s):  
Xiangyu Wang ◽  
Guipu Li ◽  
Shihua Li ◽  
Aiguo Song
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Tracking Error ◽  
Output Feedback Control ◽  
Feedback Controller ◽  
Nonlinear Observer ◽  
Position Tracking ◽  
Piston Velocity ◽  
Control Scheme

In this paper, the position tracking control problem of pneumatic servo systems is investigated. These systems usually have high nonlinearities and unmeasurable piston velocities. Firstly, by using adding a power integrator technique, a global finite-time state feedback controller is proposed. Secondly, based on homogeneous theory, a nonlinear observer is developed to estimate the piston velocity. Finally, the corresponding output feedback controller is derived, which local finite-time stabilizes the position tracking error system. Compared with the conventional backstepping output feedback control scheme, the developed nonsmooth output feedback control scheme offers a faster convergence rate and a better disturbance rejection property. Numerical simulations illustrate the effectiveness of the proposed control scheme.

Nonlinear ℋ∞ state and output feedback control schemes for an autonomous underwater vehicle in the dive plane

2017 ◽  
Vol 40 (6) ◽  
pp. 2024-2038 ◽  
Author(s):  
Subhasish Mahapatra ◽  
Bidyadhar Subudhi
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Output Feedback Control ◽  
Underwater Vehicle ◽  
State Feedback Control ◽  
Nonlinear Observer ◽  
Disturbance Attenuation ◽  
Control Algorithms

This paper addresses the development of a nonlinear ℋ∞ diving control algorithm for an autonomous underwater vehicle. It employs both state and output feedback control techniques in designing a nonlinear ℋ∞ controller such that the autonomous underwater vehicle tracks the desired depth profile. The diving control problem is formulated as a disturbance attenuation problem, in view of achieving the desired performance by attenuating the internal as well as the external disturbances by ensuring internal stability and robustness. Two Hamilton–Jacobi–Isaacs inequalities have been formulated in the form of a Taylor series technique to determine solutions to the control algorithms. The solution of the first Hamilton–Jacobi–Isaacs inequality renders a state feedback control law whereas the second inequality is exploited to design a nonlinear observer for estimating the autonomous underwater vehicle states in order to realize an output feedback controller. These control algorithms are implemented firstly using the MATLAB/Simulink environment and then, the experimental validation of the developed control algorithm has been performed in order to ensure the effectiveness of the control scheme.

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