Using dynamic positioning (DP) ship maintains its position and heading by active thrusters. Several challenges exist with regard to the DP controller design, such as uncertain system model, actuator with saturation hard limitations, state or output (ship position or orientation) constraints. A robust receding horizon dual-mode control method is introduced into the design of DP controller using the property of the invariant ellipsoid. Outside the ellipsoid, the receding horizon control is employed .Once the state enters the ellipsoid, the control is switched to a linear state feedback control, which makes the state stay in the ellipsoid forever and stabilizes the system while satisfying the input, the state and the output constraints. The DP control is obtained by using semi-definite programming (SDP) which can be easily solved by means of linear matrix inequalities (LMI). At last, the simulation study is carried out to verify the feasibility and efficiency of the application of robust receding horizon dual-mode control for dynamic positioning ship.
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