A robust anti-disturbance control (RADC) strategy is investigated for the ship dynamic positioning (DP) systems with unknown time-varying disturbances. The disturbances are brought about by wind, second-order wave drift, ocean currents as well as unmodeled dynamics, which are modelled by the first-order Markov process. The disturbance observer (DO) is established to online estimate disturbances. Then, the anti-disturbance controller for the ship DP system is designed and the stability analysis of the composite system is presented by using stochastic stability theory. The DOBC and the pole placement methods are implemented to improve the robustness against ocean environmental disturbances. The unknown time-varying disturbances can be attenuated such that the yaw angle and position of the ship reach the desired value with high accuracy. Finally, simulation on a supply ship is given to illustrate the validity of the proposed control strategy.

针对未知时变扰动的船舶动态定位（DP）系统，研究了一种鲁棒的抗干扰控制（RADC）策略。扰动是由风，二阶波漂移，洋流以及未建模的动力学引起的，这些动力学是通过一阶马尔可夫过程建模的。建立干扰观测器（DO）可以在线估算干扰。然后，设计了船舶DP系统的抗干扰控制器，并运用随机稳定性理论对复合系统的稳定性进行了分析。DOBC和极点放置方法的实施旨在提高抵抗海洋环境干扰的鲁棒性。未知的随时间变化的扰动可以被​​衰减，使得船舶的偏航角和位置可以高精度地达到期望值。最后，