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Dynamic positioning ship adaptive backstepping sliding mode control based on dynamic event-triggered
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Diju Gao*, Zuchao Bai, Zhiquan Liu
Navigation of China | 2026, 49(2) : 135 - 143
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Navigation of China | 2026, 49(2): 135-143
• Ship and Ocean Engineering Equipment •
Dynamic positioning ship adaptive backstepping sliding mode control based on dynamic event-triggered
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Diju Gao*, Zuchao Bai, Zhiquan Liu
Affiliations
  • Key Laboratory of Transport Industry of Marine Technology and Control Engineering, Shanghai Maritime University, Shanghai 201306, China
Published: 2026-04-25 doi: 10.3969/j.issn.1000-4653.2026.02.016
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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.

naval architecture  /  backstepping sliding mode control  /  dynamic event-triggered  /  dynamic positioning vessel  /  Lyapunov stability
Diju Gao, Zuchao Bai, Zhiquan Liu. Dynamic positioning ship adaptive backstepping sliding mode control based on dynamic event-triggered[J]. Navigation of China, 2026 , 49 (2) : 135 -143 . DOI: 10.3969/j.issn.1000-4653.2026.02.016
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Year 2026 volume 49 Issue 2
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Article Info
doi: 10.3969/j.issn.1000-4653.2026.02.016
  • Receive Date：2025-01-24
  • Online Date：2026-05-19
  • Published：2026-04-25
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  • Received：2025-01-24
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    Key Laboratory of Transport Industry of Marine Technology and Control Engineering, Shanghai Maritime University, Shanghai 201306, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
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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