Adaptive event-triggered anti-windup control for dynamic positioning of turret-moored vessels with nonconvex input constraint and uncertainties
2
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
This paper proposes an adaptive event-triggered anti-windup dynamic positioning (DP) control method for a turret-moored vessel subject to the uncertainties and nonconvex control input constraint. Firstly, by introducing a nonconvex constraint operator, the designed control input is mapped to the actual control input vector with the maximum amplitude constraint in the same direction, thereby ensuring that the actual control input remains within the nonconvex constraint set. Secondly, the uncertainties are ingeniously separated into an unavailable single parameter and available state-related items. The unavailable single parameter is estimated by an adaptive law online. Then, an adaptive nonconvex constraint anti-windup DP controller is proposed based on the single parameter adaptive law and the nonconvex constraint operator. Furthermore, we integrate an adaptive event-triggered mechanism into the DP controller to decrease its execution frequency. The adaptive event-triggered mechanism can effectively balance the control performance and control signal update frequency. Finally, the effectiveness of the proposed methods is validated through simulations.
Abstract
This paper proposes an adaptive event-triggered anti-windup dynamic positioning (DP) control method for a turret-moored vessel subject to the uncertainties and nonconvex control input constraint. Firstly, by introducing a nonconvex constraint operator, the designed control input is mapped to the actual control input vector with the maximum amplitude constraint in the same direction, thereby ensuring that the actual control input remains within the nonconvex constraint set. Secondly, the uncertainties are ingeniously separated into an unavailable single parameter and available state-related items. The unavailable single parameter is estimated by an adaptive law online. Then, an adaptive nonconvex constraint anti-windup DP controller is proposed based on the single parameter adaptive law and the nonconvex constraint operator. Furthermore, we integrate an adaptive event-triggered mechanism into the DP controller to decrease its execution frequency. The adaptive event-triggered mechanism can effectively balance the control performance and control signal update frequency. Finally, the effectiveness of the proposed methods is validated through simulations.