A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean current...A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.展开更多
This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose contr...This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.展开更多
The low-cost,self-configuration capability and "plug-and-play" feature of Ethernet establishes its dominant position in the local area networks(LAN).However,it is hard to extend to large scale because of the...The low-cost,self-configuration capability and "plug-and-play" feature of Ethernet establishes its dominant position in the local area networks(LAN).However,it is hard to extend to large scale because of the legacy broadcast-based service discovery mechanism.Therefore,to solve this problem,a new split network architecture named Software-Defined Networking(SDN) is introduced in this paper,and a novel floodless service discovery mechanism(FSDM)for SDN is designed.For the FSDM,the widespread broadcast messages for Dynamic Host Configuration Protocol(DHCP) and Address Resolution Protocol(ARP) are considered especially,respectively.Then the DHCP relay and ARP proxy are proposed to handle DHCP broadcast messages and ARP broadcast messages,respectively.The proposed FSDM in this paper can eliminate flooding completely,reserve the autoconfiguration characteristics.Particularly,there is no need to change the existing hardware,software and protocols of hosts for the proposed scheme.Finally,the simulation results are demonstrated to show that our proposed model allows redundant links existed in network and has the property of scalability,which can significantly reduce network traffic in data plane and control traffic in control plane,and decrease the overhead of control plane.展开更多
文摘A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.
基金Partially Supported by the Russian Foundation for Basic Research(RFBR) under Research Project No.14-07-00083a
文摘This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.
基金supported by the National Basic Research Program(973)of China(No.2012CB315801)the National Natural Science Fund(No.61302089,61300184)the fundamental research funds for the Central Universities(No.2013RC0113)
文摘The low-cost,self-configuration capability and "plug-and-play" feature of Ethernet establishes its dominant position in the local area networks(LAN).However,it is hard to extend to large scale because of the legacy broadcast-based service discovery mechanism.Therefore,to solve this problem,a new split network architecture named Software-Defined Networking(SDN) is introduced in this paper,and a novel floodless service discovery mechanism(FSDM)for SDN is designed.For the FSDM,the widespread broadcast messages for Dynamic Host Configuration Protocol(DHCP) and Address Resolution Protocol(ARP) are considered especially,respectively.Then the DHCP relay and ARP proxy are proposed to handle DHCP broadcast messages and ARP broadcast messages,respectively.The proposed FSDM in this paper can eliminate flooding completely,reserve the autoconfiguration characteristics.Particularly,there is no need to change the existing hardware,software and protocols of hosts for the proposed scheme.Finally,the simulation results are demonstrated to show that our proposed model allows redundant links existed in network and has the property of scalability,which can significantly reduce network traffic in data plane and control traffic in control plane,and decrease the overhead of control plane.
