Anti-disturbance Control for Surface Vessel Trajectory Tracking Based on Disturbance Observer

A ship tracking control scheme is proposed for the surface ship with slow-varying environmental disturbance and first-order wave force. Firstly, digital filter and disturbance observer are constructed to estimate the slow-varying environmental disturbance and first-order wave disturbance respectively. Then, the tracking control law of surface ship is designed by combining disturbance observer control (DOBC) and command filtering method. At the same time, asymmetric barrier lyapunov function (ABLF) is used to constrain the ship’s position and heading. Finally, ultimately uniformly boundedness (UUB) of all signals in the closed-loop system is guaranteed. The effectiveness of the method is verified by a simulation example.