China Ocean Engineering

, Volume 31, Issue 5, pp 639–645 | Cite as

Adaptive observer based backstepping controller design for dynamic ship positioning



Modified adaptive observer based backstepping control system for dynamic positioning of ship is proposed. As an improvement, the adaptive observer takes the first-order wave frequency model and the bias term which represent the slowly varying environmental disturbances and the unmodeled dynamics. Thus, the wave-frequency motions are filtered out, and only the reconstructed low-frequency motions are sent as inputs of the controller. Furthermore, as the ship dynamics parameters are unknown, the adaptive estimation law is designed for both the unknown ship dynamics and the unmeasured state variables. Based on the estimated states and parameters, backstepping controller considering the integral action is designed. Global exponential stability (GES) for the total system is proved using Lyapunov direct method. Simulation results show a good performance of the observer and control system.


Dynamic positioning backstepping control adaptive observer parameter estimation 


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Copyright information

© Chinese Ocean Engineering Society and Springer-Verlag GmbH Germany 2017

Authors and Affiliations

  1. 1.College of Mechanical & Electrical EngineeringQingdao University of Science & TechnologyQingdaoChina

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