Output Control Algorithms of Dynamic Positioning and Disturbance Rejection for Robotic Vessel∗

In this paper two control problems for a surface robotic vessel are addressed. One is design of a dynamic positioning (DP) system. The other deals with advanced dynamic positioning (ADP) which is extended by an unknown disturbance rejection. Considered plant is represented as a MIMO system which comprised of three independent SISO channels. For the DP problem all SISO channels are controlled by virtual control inputs generated using a robust approach, so called, "consecutive compensator". Then after an inverse MIMO transformation real control signals are calculated for robotic actuators. For the APD problem we design the cancellation scheme for channels with input delays that may be caused by a command transmission via the radio channel or computational complexity of the image processing. To finalize the investigation proposed DP algorithm is applied to the robotic complex of vessel motion modeling.