Article(id=1263533689321959988, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1263533678655881533, articleNumber=null, orderNo=null, doi=10.3969/j.issn.1000-4653.2026.02.016, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1737648000000, receivedDateStr=2025-01-24, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1779179506855, onlineDateStr=2026-05-19, pubDate=1777046400000, pubDateStr=2026-04-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1779179506855, onlineIssueDateStr=2026-05-19, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1779179506855, creator=13701087609, updateTime=1779179506855, updator=13701087609, issue=Issue{id=1263533678655881533, tenantId=1146029695717560320, journalId=1240618002186551303, year='2026', volume='49', issue='2', pageStart='1', pageEnd='163', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1779179504312, creator=13701087609, updateTime=1779179563167, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1263533925629047616, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1263533678655881533, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1263533925629047617, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1263533678655881533, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=135, endPage=143, ext={EN=ArticleExt(id=1263533690601222720, articleId=1263533689321959988, tenantId=1146029695717560320, journalId=1240618002186551303, language=EN, title=Dynamic positioning ship adaptive backstepping sliding mode control based on dynamic event-triggered, columnId=1240655132208189615, journalTitle=Navigation of China, columnName=Ship and Ocean Engineering Equipment, runingTitle=null, highlight=null, articleAbstract=

In order to solve the problems of low positioning accuracy, poor anti-interference performance and actuator wear due to the uncertainty of model parameters and unknown time-varying environmental interference in the control of Dynamic Positioning Vessel (DPV), an adaptive backstepping sliding mode control method based on a dynamic event triggering mechanism was proposed. Firstly, sliding mode control is combined with backstepping technology to ensure the robustness of the system to uncertainty and interference. At the same time, the adaptive law is used to estimate the unknown uncertainty term. Based on this, an adaptive backstepping sliding mode control controller is designed. Finally, a dynamic event-triggered mechanism is designed to reduce the frequency of actuator update, thereby reducing unnecessary wear and tear. In order to verify the effectiveness and stability of the proposed control method, the Lyapunov stability theory method is used to prove that all signals in the system are uniformly and ultimately bounded, and Zeno phenomenon can be effectively avoided. The simulation results further verify the superior performance and wide application prospect of the proposed control method in DPV control system.

, correspAuthors=Diju Gao, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=Diju Gao, Zuchao Bai, Zhiquan Liu), CN=ArticleExt(id=1263533693172331097, articleId=1263533689321959988, tenantId=1146029695717560320, journalId=1240618002186551303, language=CN, title=基于动态事件触发的动力定位船舶自适应反步滑模控制, columnId=1240655132354990258, journalTitle=中国航海, columnName=船舶工程与装备, runingTitle=null, highlight=null, articleAbstract=

针对动力定位船舶（DPV）在模型参数不确定和未知时变环境干扰下定位精度低、抗干扰性能差以及执行器磨损等问题，提出了一种基于动态事件触发机制（DETM）的自适应反步滑模控制（ABSMC）方法。首先，将滑模控制（SMC）与反步技术相结合，保证了系统对不确定性和干扰的鲁棒性。同时，采用自适应律对未知不确定性项进行估计。基于此，设计了一种自适应反步滑模控制器。最后，设计一种动态事件触发机制，以降低执行器更新频率，从而减少不必要的磨损。为了验证所提出控制方法的有效性和稳定性，采用Lyapunov稳定性理论方法证明系统所有信号一致最终有界，且可有效避免Zeno现象。仿真结果进一步验证了所用控制方法在DPV控制系统中的优越性能和广泛应用前景。

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高迪驹（1978—），男，高级工程师，博士，研究方向为船舶新能源技术、船舶自动控制等。

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高迪驹（1978—），男，高级工程师，博士，研究方向为船舶新能源技术、船舶自动控制等。

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