摘要：A dredger’s dynamic positioning system (DPS) is designed, nonlinear control algorithm and real-time PROFINET IO structure are adopted in this system. Noise-free estimates of the position and the velocity are produced by the observer, and the adaptive dynamic surface control (ADSC) algorithm is adopted to solve the special problem of the dredger with strong interferences. Real-time industrial Ethernet is used in this system to improve the real-time performance. This work solves the contradiction between the real-time control requirement and complex control algorithms well.
