Study On Ship Dynamic Positioning Using Backstepping Stochastic Nonlinear Controller With Observer

Disturbance is described as stochastic processes considering ship dynamic positioning system's dynamic uncertainty. Backstepping stochastic nonlinear controller with observer is designed based on plant described as stochastic differential equations considering detection error; Stability analysis of Backstepping stochastic nonlinear controller with observer is given based on Lyapunov method. Results show that Backstepping stochastic nonlinear controller with observer's improve the control performance and increase the probability of controllability under atrocious sea condition.