Dynamic Positioning Nonlinear Control System of the Dredger Based on PROFINET IO

A dredger’s dynamic positioning system (DPS) is designed with real-time Profinet IO structure and nonlinear control algorithm. Real-time industrial Ethernet is used in this system to improve the real-time performance. 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 disturbances. Disturbances can be estimated and compensated by adaptive arithmetic. This work solves the contradiction between the real-time control requirement and complex control algorithms well.