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School of Marine Engineering, Jimei University, Xiamen 361021, China
Interests: dynamic positioning system; unmanned surface vehicle; artificial intelligence application; control theory and application
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Dr. Shengwen Xu

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School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China
Interests: hydrodynamics; wave hydrodynamics; numerical simulation; numerical analysis; modeling and simulation; motion control; numerical modeling

Dr. Haitong Xu

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Centre for Marine Technology and Ocean Engineering (CENTEC), Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais, 1049-001 Lisboa, Portugal
Interests: autonomous ships; guidance navigation and control; nonlinear control; ship manoeuvering model; system identification method; full-scale trials and model tests
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Special Issue Information

Dear Colleagues,

Marine dynamic positioning system (DPS) has been widely employed in many floating vessels/platforms in the sea and is an important support technology for exploration and exploitation of oceanic resources. A DPS mainly consists of a position measurement system, control system, thrust allocation (TA) system and propulsion system. It is known that vessels/platforms equipped with a DPS use thrusters and main propellers to produce a desired thrust via azimuth/tunnel thrusters, as well as to control maneuvering. Thrust can compensate for environmental forces acting on the vessel/platform to maintain position and head as closely as required to some desired position in the horizontal plane. DPS has also become one of key technologies for Marine Autonomous Surface System.

This Special Issue will focus on recent developments in marine dynamic positioning system. Topics of interest include, but are not limited to:

Advanced control strategy for DPS;
Thrust allocation method for DPS;
Low-level thruster controller for DPS;
Hydrodynamic performance analysis method for DPS;
Cooperative control for DPS;
Hybrid control for DPS;
Decision making strategy for DP vessels;
Case studies.

Prof. Dr. Defeng Wu
Dr. Shengwen Xu
Dr. Haitong Xu
Guest Editors

Manuscript Submission Information

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Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Journal of Marine Science and Engineering is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2200 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

dynamic positioning high-level controller
thrust allocation
thruster control
hybrid control

Published Papers (2 papers)

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Research

Open AccessArticle

Ship Dynamic Positioning Output Feedback Control with Position Constraint Considering Thruster System Dynamics

and

J. Mar. Sci. Eng. 2023, 11(1), 94; https://doi.org/10.3390/jmse11010094 - 04 Jan 2023

Cited by 1 | Viewed by 578

Abstract

In order to simultaneously address the issues of ship operating area limitation, unknown time-varying disturbances, immeasurable ship speed, unknown dynamics, and input saturation, this paper investigates the position-constrained ship dynamic positioning output feedback control, taking thruster system dynamics into account. Firstly, a barrier Lyapunov function (BLF) is utilized to limit the ship position inside the dynamic positioning system’s acceptable working range and to limit the ship position error. Second, the set total disturbance, which is made up of unknown time-varying disturbances and unknown dynamics and is further handled by the control strategy, is estimated using a fixed-time extended state observer (FDESO). Additionally, the thruster system dynamics equations are incorporated into the controller design process so that the generated thrust signal varies gradually without abrupt fluctuations, in keeping with engineering realities. Furthermore, the thruster input saturation issue is dealt with using a finite-time auxiliary dynamic system. Finally, a robust control term is introduced to handle the errors generated in the controller design. The stability proof section demonstrates that the designed control strategy can cause the ship to arrive and maintain at the desired location and heading, as well as stay continuously inside the designated operating area with all signals of the closed-loop control system being consistently and eventually bounded. The simulation results demonstrate that the proposed system is valid. Full article

(This article belongs to the Special Issue Marine Dynamic Positioning System)

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Open AccessArticle

Finite-Time Controller Design for the Dynamic Positioning of Ships Considering Disturbances and Actuator Constraints

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J. Mar. Sci. Eng. 2022, 10(8), 1034; https://doi.org/10.3390/jmse10081034 - 27 Jul 2022

Cited by 1 | Viewed by 776

Abstract

Focusing on dynamic positioning (DP) systems for ships, which are subject to environmental disturbances and actuator constraints, this paper presents a finite-time controller that uses a disturbance observer with the aid of a backstepping technique. First, to estimate the time-varying and unknown environmental disturbances in finite time, two sliding-mode disturbance observers are constructed. Specifically, an adaptive disturbance observer (ADO) effectively decreases undesired chattering without the need for prior information on environmental disturbances. Then, to handle the actuator constraints, the designed control forces are distributed into multiple actuators using a control allocation algorithm to obtain the actual forces. Next, an auxiliary dynamic system is built to compensate for velocity tracking errors induced by the mismatch of the DP control law and thruster forces. Then, with the designed ADO and the auxiliary dynamic system, a finite-time controller with a fast exponential-reaching law is designed; this ensures that the positioning errors and the sliding surface converge to zero at a fast convergence rate. Finally, numerical simulations are presented: these present a cable-laying ship experiencing wind, currents, and waves in different sea states. The results show the effectiveness of the presented control scheme. Full article

(This article belongs to the Special Issue Marine Dynamic Positioning System)

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