Design of UDE-based dynamic surface control for dynamic positioning of vessels with complex disturbances and input constraints

In practice, dynamic positioning (DP) vessels are subjected to complex disturbances as well the magnitude and changing rate constraints of thrusts moments. This study applied a surface controller based on an uncertainty disturbance estimator (UDE) DP vessel with input constraints. The UDE was designed estimate handle disturbances. An auxiliary system (ADS) smooth switching function were employed compensate for avoid singularity phenomenon caused by ADS, respectively. combination method control (DSC) technology significantly simplified design process law increased practicability vessels. stability proposed proved using Lyapunov theory. effectiveness possibility actually applying it verified simulation experiments.