国家自然科学基金（项目批准号: 51879210, 51979210），中央高校基本科研业务费专项资金资助(项目批准号: 2019Ⅲ040, 2019III132CG)
1.School of Naval Architecture，Ocean and Energy Power Engineering，Wuhan University of Technology;2．Key Laboratory of High Performance Ship Technology of Ministry of Education;3.Science and Technology on Water Jet Propulsion Laboratory
The National Natural Science Foundation of China (51879210, 51979210)，The Fundamental Research Funds for the Central Universities(2019Ⅲ040, 2019III132CG)
Aiming at the problem of inaccurate positioning caused by nonlinear model and multi-source disturbance of dynamic positioning (DP) vessel model, a robust adaptive anti-disturbance control method based on passive elegant extended state observer (PEESO) was proposed, which takes into account the characteristics of different disturbances and their responses in the nonlinear model. Firstly, the DP vessel model and multi-source disturbance model were established, and a PEESO was designed to estimate the vessel states and multi-source disturbance in real time according to the system model. Secondly, based on the model and estimated values of vessel state and disturbance, the dynamic surface control technique was introduced and the robust adaptive term was designed in the control law to compensate the estimation error. Finally, it was proven that all error signals of the DP closed-loop cascade system are consistent and ultimately bounded. The simulation results showed that the method is superior to the traditional ESO in disturbance estimation and state estimation, which verifies the effectiveness of the proposed control method.