Finite Time Output Feedback Control for Ship Dynamic Positioning Assisted Mooring Positioning System with Disturbances

  • Guoqing Xia
  • Caiyun Liu
  • Bo Zhao
  • Xinghua ChenEmail author
  • Xingchao Shao


This paper investigates finite-time output feedback control for ship dynamic positioning assisted mooring system with external disturbances and without velocity measurement. Firstly, a finite-time observer is designed to estimate the velocity of the positioning ship and the external disturbances. Secondly, based on the proposed observer, a finite-time control law is introduced to bring the ship to the desired position and heading. Furthermore, the stability of the overall closed-loop system is proved by using matrix inequality, homogeneous and Lyapunov stability theory. Finally, the effectiveness of the proposed positioning control is verified by numerical simulations.


Dynamic positioning assisted mooring positioning system effectiveness finite-time observer output feedback controller positioning control 


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© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.The College of AutomationHarbin Engineering UniversityHarbinChina

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