Practical constrained dynamic positioning control for uncertain ship through the minimal learning parameter technique

In this note, a novel adaptive constrained control algorithm is proposed for dynamic positioning vessels in the presence of input amplitude and rate saturations. In the scheme, both kinematics and kinetics loops are augmented by the auxiliary system to deal with the saturation impact. Meanwhile, for merits of the command filters and minimal leering parameter technique, the cumbersome analytic derivatives of the virtual control law need not be required in the control design, and only two adaptive parameters are updated online to stabilise the effect of the model uncertainty and the external disturbance for each subsystem. Using the Lyapunov theory, the semi-global uniformly ultimately bounded is proved for the closed-loop system. The effectiveness and robustness of the proposed algorithm are demonstrated by the numerical example in the presence of the simulated marine disturbance.