Composite anti-disturbance dynamic positioning for mass-switched unmanned marine vehicles with multisource disturbances and actuator saturation: A switched model method

This article focuses on the composite anti -disturbance dynamic positioning (CADDP) control problem for the unmanned marine vehicle (UMV) system subject to mass switching, multisource disturbances and actuator saturation. The multisource disturbances include the unmeasurable modeled disturbances and measurable unmodeled disturbances. First, a switched model is introduced to describe the mass -switched UMV (MSUMV) system. Then, a series of switching observers are built to capture the unmeasurable disturbances. Meanwhile, the convex hull technique is exploited to address the actuator saturation. Further, based on the disturbance observer, the CADDP control scheme is developed to alleviate the influences of the multisource disturbances and actuator saturation, and to achieve the dynamic positioning (DP) of the MSUMV model. In the end, the established CADDP control strategy is carried on a supply vessel to illustrate the feasibility of the developed theory.