Engineering vessel anchoring positioning control based on anti-saturation guidance dynamic surface

Abstract

This paper proposes an anti-saturation dynamic surface control strategy based on position guidance to achieve safe and accurate positioning of engineering vessels in the context of restricted inputs in the anchor mooring system. By introducing a position guidance function to limit the rate of change of anchor cable tension and using a dynamic compensation system to compensate for input saturation, the engineering vessel can be quickly and accurately positioned. Simulation results show that the proposed anti-saturation dynamic surface controller effectively addresses the problem of input saturation in the mooring system, thereby improving system safety and effectiveness.