Chinese Journal of Ship Research, Volume. 20, Issue 3, 202(2025)
Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators
Figures & Tables(9)
Fig. 4. Comparison of the attitude variables and heading angle 船舶位置变量和航向角的对比曲线
Fig. 5. Comparison of the control force and control torque 控制力与控制力矩的对比曲线
Fig. 7. Adaptive parameters under the proposed algorithm本文算法中的自适应参数
Table 1. Model parameters of experimental vehicle
View tableView in ArticleTable 1. Model parameters of experimental vehicle
参数 数值 参数 数值 $ {X_{\dot u}} $ −0.721 2×106 $ {Y_{\dot v}} $ −3.692 1×106 $ {Y_{\dot r}} $ −1.023 4×106 $ {I_{\textit{z}}} - {N_{\dot r}} $ 3.745 4×109 $ {X_u} $ 5.024 2×104 $ {Y_v} $ 2.722 9×105 $ {Y_r} $ −4.3933×106 $ {Y_{\left| v \right|v}} $ 1.786 0×104 $ {X_{\left| u \right|u}} $ 1.017 9×103 $ {Y_{\left| v \right|r}} $ −3.006 8×105 $ {N_v} $ −4.382 1×106 $ {N_r} $ 4.189 4×108 $ {N_{\left| v \right|v}} $ −2.468 4×105 $ {N_{\left| v \right|r}} $ 6.575 9×106
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Bo LI, Guoqing ZHANG, Xianku ZHANG, Hongguang LÜ. Robust event-triggered control algorithm for ship dynamic positioning considering dynamic characteristics of actuators[J]. Chinese Journal of Ship Research, 2025, 20(3): 202
Paper Information
Category: Marine Machinery, Electrical Equipment and Automation
Received: Oct. 8, 2023
Accepted: --
Published Online: Jul. 15, 2025
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