动力定位船舶的非线性观测器设计

针对动力定位船舶设计了一个非线性观测器，该观测器的全局收敛性通过李亚普诺夫稳定性定理得到了证明。观测器的最大优点是可以省略采用Kalman滤波器时线性化船舶运动方程的过程。该非线性观测器可以从附有测量噪声的输出中估计到船舶低频位置和运动速度以及环境扰动作用力，同时也能从输出信号中滤除一级波浪引起的船舶高频运动。该非线性观测器的性能通过对一动力定位船舶模型的仿真得到了验证。

A Nonlinear Observer Design for Dynamic Positioning Ship

A nonlinear observer was derived for dynamic positioning system. The global exponential stability of observer was proven using Lyapunov methods. The main advantage of the nonlinear design to Kalman filter is that the kinematic equations of motion need not be linearized. The proposed observer includes an estimation of both the low frequency position and velocity of the ship from noisy position measurements, environmental disturbance and wave filering. The simulation results show the excellent performance of the nonlinear observer.