Alongside Replenishment Tracking Control of the Supply Ship under the Influence of the Highline Cable Tension

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• 英文论文题名：Alongside Replenishment Tracking Control of the Supply Ship under the Influence of the Highline Cable Tension
• 论文作者：Mingyu Fu ; Shasha Wang ; Yuanhui Wang
• 英文论文作者：Mingyu Fu ; Shasha Wang ; Yuanhui Wang ; College of Automation ; Harbin Engineering University
• 年：2017
• 作者机构：College of Automation, Harbin Engineering University;
• 论文关键词：Alongside Replenishment ; Supply Ship ; Tracking Control ; Highline Cable Tension ; Backstepping
• 英文论文关键词：Alongside Replenishment ; Supply Ship ; Tracking Control ; Highline Cable Tension ; Backstepping
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（A）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
• 语种：英文
• 分类号：U664.82
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：820k
• 原文格式：D
• 会议级别：全国

摘要

In the process of alongside replenishment,the tracking control is investigated for supply ship with the influence of highline cable tension and environmental disturbances,and a backstepping method is proposed.The tension change of highline cable is caused by motion trajectory of cargo,cable deflection and transverse distance between two ships.Meanwhile,the mathematical analysis model of the highline cable system is accurately established through the systematic analysis.Furthermore,the backstepping method is designed to compensate the influence of highline cable tension and environmental disturbances.Besides,asymptotic stability of the overall system is proved by Lyapunov theory and LaS alle invariance principle.Finally,numerical simulations show the influence of the highline cable tension and environmental disturbances on the tracking control of supply ship and validate the effectiveness of proposed method
In the process of alongside replenishment,the tracking control is investigated for supply ship with the influence of highline cable tension and environmental disturbances,and a backstepping method is proposed.The tension change of highline cable is caused by motion trajectory of cargo,cable deflection and transverse distance between two ships.Meanwhile,the mathematical analysis model of the highline cable system is accurately established through the systematic analysis.Furthermore,the backstepping method is designed to compensate the influence of highline cable tension and environmental disturbances.Besides,asymptotic stability of the overall system is proved by Lyapunov theory and LaS alle invariance principle.Finally,numerical simulations show the influence of the highline cable tension and environmental disturbances on the tracking control of supply ship and validate the effectiveness of proposed method

引文

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