Abstract
Modern dynamic positioning systems are widely used now to support marine operations of various types. Correspondent control laws include nonlinear asymptotic observers to restore deficient information about the unmeasured velocities of the vessel. Using obtained estimations, it is possible to stabilize closed loop system and to provide its desirable dynamical features. The complexity of this problem is determined by the presence of an extensive population of certain dynamical conditions, requirements and restrictions that essentially hampers the using of traditional synthesis methods. In this connection the mentioned problem can be decoupled into particular separated problems on the base of a special unified multipurpose structure of control law, which includes dynamical corrector to provide desirable features for the DP vessel motion under influence of external disturbances.
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