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Adaptive dynamic positioning control for ships based on finite-time command filtered backstepping
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Xing-hua CHEN1, Xu HAN2, Cai-yun LIU3, Guo-qing XIA1, Juan LI1
Journal of Ship Mechanics | 2025, 29(4) : 547 - 559
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Journal of Ship Mechanics | 2025, 29(4): 547-559
• Hydrodynamics •
Adaptive dynamic positioning control for ships based on finite-time command filtered backstepping
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Xing-hua CHEN1, Xu HAN2, Cai-yun LIU3, Guo-qing XIA1, Juan LI1
Affiliations
  • 1.College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
  • 2.Guangdong Technology College, Zhaoqing 526100, China
  • 3.Shandong Technology and Business University, Yantai 264005, China
Published: 2025-04-20 doi: 10.3969/j.issn.1007-7294.2025.04.004
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This paper focuses on proposing a finite-time command filtered backstepping robust adaptive dynamic positioning control method to deal with the thruster dynamics, parameters uncertainty, input saturation and unknown external disturbance problems. The proposed method not only has the advantages of the command filtered backstepping, but also can guarantee the control system convergence in finite time. Firstly, adaptive neural network was used to estimate uncertain functions in the system. Secondly, the thruster input saturation issue was addressed with a finite-time auxiliary dynamic system. Finally, based on the uncertain estimation and the FTADS, a finite-time command filtered backstepping (FTCFB) control law was introduced, and the system tracking errors and parameter estimating errors were proved to be convergent in finite time by using Lyapunov stability theory. Additionally, the effectiveness of the proposed positioning control method was verified by numerical simulations.

dynamic positioning system  /  thruster dynamics  /  neural network  /  finite-time command filtered backstepping  /  finite-time convergence
Xing-hua CHEN, Xu HAN, Cai-yun LIU, Guo-qing XIA, Juan LI. Adaptive dynamic positioning control for ships based on finite-time command filtered backstepping[J]. Journal of Ship Mechanics, 2025 , 29 (4) : 547 -559 . DOI: 10.3969/j.issn.1007-7294.2025.04.004
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Year 2025 volume 29 Issue 4
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Article Info
doi: 10.3969/j.issn.1007-7294.2025.04.004
  • Receive Date：2024-10-23
  • Online Date：2026-03-24
  • Published：2025-04-20
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  • Received：2024-10-23
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Affiliations
    1.College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
    2.Guangdong Technology College, Zhaoqing 526100, China
    3.Shandong Technology and Business University, Yantai 264005, China
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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