Formation control in dynamic positioning of multiple offshore vessels via cooperative robust output regulation
Dabo Xu, Xinghu Wang, Youfeng Su, Dan Wang · 2017
This paper considers formation control in dynamic positioning (DP) of multiple offshore vessels. Toward the higher accuracy, reliability, and robustness demands in the advanced marine vessels, we shall attempt a cooperative robust output regulation based synthesis for the problem. It is shown that, when the vessels modeling parameters in question are unknown, the global robust asymptotic formation control can be systematically approached in a distributed control fashion. Specifically, the controller can be constructed by incorporating suitable internal models and performing a recursive block backstepping design for the augmented system. Hence, it assures accurate formation control with robustness against model uncertainties.