Contents I. Introduction
In the field of marine engineering and shipping, unmanned ships and unmanned surface vehicles (USVs) are gaining increasing attention as emerging intelligent equipment. As a type of marine transportation, USVs hold significant importance for the development of various fields such as scientific research, military, commerce, and environmental protection [1]. Equipped with a variety of sensors and devices, USVs are characterized by their low cost and high reliability, making them indispensable in various marine applications including ocean transportation, hydrographic surveys, and resource exploration [2]. Replacing manual labor with USVs for a series of complex marine tasks is particularly crucial for high-intensity and hazardous operations, underscoring the imperative for their development and research. The ability of vessels to maintain their position at sea is critical. Traditionally, work vessels relied on multi-point anchoring systems to remain stationary, a method fraught with issues such as insufficient positioning accuracy, limitations imposed by water depth, and poor maneuverability [3]. Dynamic positioning(DP) control technology has emerged as a new method to meet engineering operation requirements, becoming an inevitable trend in development. The primary function of dynamic positioning systems is to counteract environmental disturbances using thrust generated by the propulsion system, ensuring the vessel remains in a specified location, follows a predetermined path, and dynamically controls the orientation of onboard equipment to guarantee the smooth execution of special marine operations [4].
