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.

I. Introduction

In The marine engineering, marine vehicles play a key role due to their widely marine applications in offshore exploration, pipeline laying, exploitation of hydrocarbons and so on [1]. Numerous studies have been made on marine vehicles with lots of control techniques developed [2], [3], [4], [5], like the course tracking control, the integrated motion control and the obstacle avoidance control [6]. In recent years, along with the fast arising of communication, navigation, artificial intelligence and other automatic technologies, more and more attention has been paid to UMVs. Different from traditional ships, UMVs have been widely used in marine operations including the polar plateau scientific research, the disaster relief, the environmental monitoring and so on due to their benefits of tiny sizes, easy operability and high safety [7], [8], [9].