Nonlinear Observers and Output Feedback Control with Application to Dynamically Positioned Ships
(1998) 4th IFAC Nonlinear Control Systems Design Symposium, 1998 In IFAC Proceedings Volumes (IFAC-PapersOnline)- Abstract
- The decomposition of nonlinear output feedback control into an observer and a state feedback control is an open problem. A solution for dynamic positioning of ships has been proposed by Fossen and Grøvlen (1998) and Grøvlen and Fossen (1996), where an observer-based backstepping method is used.
The suggested observer design in Fossen and Grøvlen (1998) and Grøvlen and Fossen (1996) does not cover unstable ship dynamics and we suggest a remedy for an extended class of ships. Typically thruster assisted mooring of large tankers does not fulfill the needed stability properties, so an extension to this case is motivated. We propose a method to extend the results, under a detectability condition. This condition implies stable surge... (More) - The decomposition of nonlinear output feedback control into an observer and a state feedback control is an open problem. A solution for dynamic positioning of ships has been proposed by Fossen and Grøvlen (1998) and Grøvlen and Fossen (1996), where an observer-based backstepping method is used.
The suggested observer design in Fossen and Grøvlen (1998) and Grøvlen and Fossen (1996) does not cover unstable ship dynamics and we suggest a remedy for an extended class of ships. Typically thruster assisted mooring of large tankers does not fulfill the needed stability properties, so an extension to this case is motivated. We propose a method to extend the results, under a detectability condition. This condition implies stable surge dynamics, which is a natural assumption for ships. Finally, we discuss a nonlinear separation principle for stabilizing this class of ship dynamics, where we can reuse our nonlinear observer design. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8516915
- author
- Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 1998
- type
- Contribution to journal
- publication status
- published
- subject
- in
- IFAC Proceedings Volumes (IFAC-PapersOnline)
- publisher
- IFAC Secretariat
- conference name
- 4th IFAC Nonlinear Control Systems Design Symposium, 1998
- conference location
- Enschede, Netherlands
- conference dates
- 1998-07-01 - 1998-07-03
- ISSN
- 2405-8963
- DOI
- 10.1016/S1474-6670(17)40436-8
- project
- RobotLab LTH
- Lund Research Programme in Autonomous Robotics, 1998-2001
- language
- English
- LU publication?
- yes
- id
- 998f45de-e7e2-4002-9384-1c6d7db13659 (old id 8516915)
- date added to LUP
- 2016-04-04 14:36:59
- date last changed
- 2019-04-05 13:26:09
@article{998f45de-e7e2-4002-9384-1c6d7db13659, abstract = {{The decomposition of nonlinear output feedback control into an observer and a state feedback control is an open problem. A solution for dynamic positioning of ships has been proposed by Fossen and Grøvlen (1998) and Grøvlen and Fossen (1996), where an observer-based backstepping method is used.<br/><br/>The suggested observer design in Fossen and Grøvlen (1998) and Grøvlen and Fossen (1996) does not cover unstable ship dynamics and we suggest a remedy for an extended class of ships. Typically thruster assisted mooring of large tankers does not fulfill the needed stability properties, so an extension to this case is motivated. We propose a method to extend the results, under a detectability condition. This condition implies stable surge dynamics, which is a natural assumption for ships. Finally, we discuss a nonlinear separation principle for stabilizing this class of ship dynamics, where we can reuse our nonlinear observer design.}}, author = {{Robertsson, Anders and Johansson, Rolf}}, issn = {{2405-8963}}, language = {{eng}}, publisher = {{IFAC Secretariat}}, series = {{IFAC Proceedings Volumes (IFAC-PapersOnline)}}, title = {{Nonlinear Observers and Output Feedback Control with Application to Dynamically Positioned Ships}}, url = {{http://dx.doi.org/10.1016/S1474-6670(17)40436-8}}, doi = {{10.1016/S1474-6670(17)40436-8}}, year = {{1998}}, }