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Paper details
Number 4 - December 2018
Volume 28 - 2018
Adaptive backstepping tracking control for an over-actuated DP marine vessel with inertia uncertainties
Anna Witkowska, Roman Śmierzchalski
Abstract
Designing a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient
information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is
considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control
theory for cascaded systems to guarantee stabilization of the marine vessel position and heading. Forces and torque computed
from the adaptive control law are allocated to individual thrusters by employing the quadratic programming method
in combination with the cascaded generalized inverse algorithm, the weighted least squares algorithm and the minimal least
squares algorithm. The effectiveness of the proposed control scheme is demonstrated by simulations involving a redundant
set of actuators. The evaluation criteria include energy consumption, robustness, as well accuracy of tracking during typical
vessel operation.
Keywords
over-actuated control, adaptive control, Lyapunov function, control allocation, MIMO system