动力定位船舶自适应滑模无源观测器设计

针对带有模型参数不确定性的动力定位船舶,提出一种动力定位船全速域自适应滑模无源观测器,解决了现有观测器只能应用于低速作业动力定位系统的问题.采用速度估计误差作为滑模面,设计切换自适应律估计模型不确定项上界,保证了观测器增益的有界性和系统鲁棒性.对速度估计回路的无源性进行了分析,并证明了观测器的稳定性.最后利用船舶动力定位系统半实物仿真平台,验证了算法的有效性.

Adaptive sliding-mode passive observer design for dynamic positioning vessel

Because the existing observers can only be applied to low-speed dynamic positioning systems, we propose an adaptive sliding-mode passive observer for all speed envelopes of the dynamic positioning vessel with uncertain model parameters. The velocity estimation error is used as the sliding-mode surface; a switching adaptive update law is designed to estimate the upper bound of model uncertainties for restricting the observer gains and improving the robustness of the system. The passivity analysis of the loop for speed estimation is given; the stability of the observer is proved. The algorithm is validated through a hardware-in-the-loop simulation of a dynamic positioning system.