Composite Anti-Disturbance Dynamic Positioning for Mass-Switched Unmanned Marine Vehicles

This article presents a composite anti-disturbance dynamic positioning (CADDP) control technique for a mass-switched unmanned marine vehicle (MSUMV) subject to the influence of wave drifts and residual filtered wave. The wave drifts and residual filtered wave are described as unmeasurable modeled disturbances and measurable unmodeled disturbances, respectively. Then, the UMV with mass switching is modeled as a switched system. Further, by virtue of the multiple Lyapunov functions technique, DP of the UMV is achieved with composite disturbance rejection capability. The effectiveness of the presented method is illustrated by simulations with a supply vessel.