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A new method for the control reconfiguration of pipe-laying vessels after sensor faults is described. The pipe-laying vessel is a kind of special operation vessel coordinated with dynamic positioning system. The new reconfiguration approach uses a virtual sensor as a reconfiguration block that permits to keep the nominal controller in the loop. A systematic procedure for virtual sensor design is presented...
In this paper, we study the position synchronization problem of multiple surface vessels with model uncertainties and external disturbances. The synchronization controller is proposed under the situation when velocity measurements are unavailable. Extended state observer is employed to estimate the velocity measurements and the unknown external disturbances. Coupling errors are introduced to design...
This paper considers the path following problem of underactuated marine surface vessel in the presence of model uncertainty and external disturbances. A robust control strategy is proposed by employing the dynamic surface control and extended state observer. The key features of the presented control strategy include that, first, the extended state observer is proposed to estimate the model uncertainty...
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