DYNAMIC POSITIONING CONTROL OF MARINE VEHICLE

The paper deals with a novel fuzzy feedback linearization control of dynamic positioning marine vehicle with the almost disturbance decoupling performance. The main contribution of this study is to construct a controller such that the resulting dynamic positioning marine vehicle is valid for any initial and desired positions with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling. The dynamic positioning time based on our proposed novel nonlinear fuzzy feedback linearization control is better than some existing approaches. The proposed controller is constructed by feedback linearization controller and fuzzy controller. The feedback linearization controller guarantees the almost disturbance decoupling performance and the uniform ultimate bounded stability of the tracking error system. Once the tracking errors are driven to touch the global final attractor with the desired radius, the fuzzy logic controller immediately is applied via a human expert's knowledge to improve the conveigence rate. Finally, the availability and feasibility of the proposed approach are investigated with a numerical simulation.