Weather-optimal control of a dynamic positioning vessel using backstepping: simulation and model experiment

:This paper discusses the optimal weathervaning control of a dynamic positioning (DP) vessel, where the vessel is aligned toward an optimal direction for zero resultant moment due to wind, wave, and current forces while maintaining a fixed position. Specifically, a nonlinear backstepping technique is used to design a weather-optimal controller in task space. This approach does not require direct measurement or estimation of environmental forces, which allows for the design of a simple and effective control system. Simulations and experiments were conducted with a model ship, and some preliminary results are presented.