Robust adaptive dynamic surface path tracking control for dynamic positioning vessel with big plough

To deal with the tracking control problem of the fully actuated dynamic positioning vessel with large disturbances from big ploughs, a novel robust adaptive controller based on dynamic surface is proposed. And in order to product reasonable expectation input for the controller, a guidance strategy for calculating the desired path for vessel is proposed. The mathematical model with uncertain parameters of the dynamic positioning vessel is built. Disturbances from environment and big ploughs are compensated for by the proposed adaptive estimator. By using Lyapunov method, uniformly bounded of the closed-loop system is proved via some assumptions. The effectiveness and the transient performance of the proposed nonlinear robust adaptive dynamic surface controller are illustrated by simulation results.