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This is an early access version, the complete PDF, HTML, and XML versions will be available soon. Open AccessArticle by 1,2,* and 1 1 College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150006, China 2 China Classification Society, Beijing 100007, China * Author to whom correspondence should be addressed. Appl. Sci.
Abstract : This dissertation presents a fresh control strategy for dynamic positioning vessels exposed to model uncertainty, various external disturbances, and input constraint. The vessel is supposed to work in a particular situation surrounding a lighthouse or a submerged reef, where collision avoidance must be prevented. The control strategy involves making the vessel navigate under the action of modified artificial potential functions (MAPFs) along a smooth trajectory.
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