Bio-inspired trajectory tracking algorithm for Dynamic Positioning ship with system uncertainties

To solve the speed jump and model uncertainties for Dynamic Positioning (DP) ships, a new bio-inspired trajectory tracking algorithm and an extended state observer (ESO) are presented in this paper. First, utilizing the smooth and bounded output characteristics of neural dynamics model, an intermediate virtual speed variable is introduced in the common dynamic surface control (DSC) to avoid speed jump. Then the backstepping technique is used to obtain the trajectory tracking control law. At last, an ESO is designed to compensate the system uncertainties dynamically. In our scheme, the effect of control in the horizontal plane can be achieved global asymptotically stable with strong robustness. Excessive force and moment caused by speed jump can also be avoided. Simulation results show correctness and validity of the algorithm.