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Nonlinear Observers and Output Feedback Control with Application to Dynamically Positioned Ships

Robertsson, Anders LU and Johansson, Rolf LU orcid (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)
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author
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organization
publishing date
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}},
}