|Cooperative Control of Multiple Dynamic Positioning Vessels with Input Saturation Based on Finite-time Disturbance Observer
Guoqing Xia, Chuang Sun*, Bo Zhao, and Jingjing Xue
International Journal of Control, Automation, and Systems, vol. 17, no. 2, pp.370-379, 2019
Abstract : "This paper presents a new cooperative control strategy for dynamic positioning of multiple surface vessels
subject to unknown time-varying environmental disturbances and input saturation. The vessels are assumed
interconnected through a directed topology rather than bidirectional. Two control objectives are considered in this
paper. The first one is to make these vessels track desired positions and headings, and the other control objective is
to hold the desired formation. For these purposes, we propose a cooperative control which consists of finite-time
disturbance observer, auxiliary dynamic system and dynamic surface control technique. A nonlinear finite-time
observer is developed to estimate unknown time-varying disturbance. To tackle the input saturation problem, an
auxiliary dynamic system is constructed. It is also proved that all signals in the closed-loop control system converge
to a small neighborhood of equilibrium state via Lyapunov analysis. Simulation results are given to validate the
effectiveness of the proposed control strategy."
"Auxiliary system, cooperative control, disturbance observer, dynamic positioning, input saturation, surface vessels."