Abstract
ABSTRACTA dynamically positioned ship maintains its position (fixed location or predetermined track) exclusively by means of active thrusters. In this paper, a control scheme for dynamic positioning control of ships using a relay observer design is presented. Our analysis relies on nonsmooth strict Lyapunov functions to demonstrate global asymptotic stability of the closed‐loop system equilibrium. Using simulation results we illustrate the good performance of the proposed scheme under noisy ship position measurements.
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