Study on the Dynamic Positioning of Dredgers Backstepping Control Based on Torque Compensation

@inproceedings{Yuhua2010StudyOT,
  title={Study on the Dynamic Positioning of Dredgers Backstepping Control Based on Torque Compensation},
  author={Zhang Yu-hua},
  year={2010}
}
In order to deal with the control difficulties of the dredger’s dynamic positioning system under large dredging forces reaction, an method combining backstepping and feed-forward compensation is proposed to use in dredgers’ dynamic positioning system. Dredging forces can be feed-forward compensated by sensors, and the backstepping controller guarantees the globally asymptotical stability of the closed-loop system, and output asymptotic track to desired trajectory. Simulation results show that… CONTINUE READING