A High-Gain Observer-Based Pd Controller Design for Dynamic Positioning of Ships

This paper addresses the problem of the dynamic positioning system of surface ships in the presence of constant environmental disturbances. In this paper we propose a high-gain observer-based PD controller to estimate unmeasured velocities of a surface ship. Lyapunov stability theory is applied to prove its stability. Finally, simulation is carried out using SIMULINK and appropriate results are obtained to illustrate the effectiveness and performance of proposed controller.