Ship Dynamic Positioning Output Feedback Control with Thruster System Dynamics

In this paper, a novel backstepping controller considering thruster system dynamics is proposed. Firstly, a practical ship dynamic positioning control algorithm is formulated leveraging the thruster system dynamics, along with a finite-time convergent disturbance observer and an auxiliary dynamic system designed for finite-time convergence. The designed dynamic positioning closed-loop control system is uniformly ultimately stable. The advantages of the developed control scheme are that first, it addresses a multitude of potential challenges that the dynamic positioning system could encounter amidst intricate sea conditions, which is conducive to the implementation of the algorithm in maritime practice; Second, thruster system dynamics were considered to ensure smooth changes in actual control variables, aligning more closely with engineering realities. Finally, the control's effectiveness stays consistent. algorithm was validated through simulation, reinforcing its practical applicability.