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Output feedback control for dynamic positioning system of vessels

In this paper, an output feedback control scheme is developed for the dynamic positioning (DP) system of vessels with immeasurable velocities. A high-gain observer is constructed to estimate the immeasurable velocities. By combining the high-gain observer with backstepping technique, an output feedback control scheme is designed. By Lyapunov functions, it is illustrated that the developed output feedback control law can force the vessel's position and heading at the desired target values. Simulation studies are accomplished, and the consequences prove the availability of the designed control scheme.